Research and Optimization of Real-time Simultaneous Localization and Mapping of Indoor Robot Based on Binocular Vision

摘要

For the problem of inaccuracy and cumulative error of visual odometer, The research and optimization of real-time Simultaneous Localization and Mapping of indoor robot based on binocular vision are studied. Based on ORB-SLAM2, key-frame map is created. First, the ORB feature is extracted from each frame of the input image and matched by fast approximation nearest neighbour(FLANN). Then, perform the preliminary pose estimation using EPnP, and optimize it with bundle adjustment and key-frame maps. When the tracking fails, apply key-frame maps and bag of words model to relocate. Finally, for the input binocular image, the SGBM is used to solve the parallax and then the depth, which will be converted to radar format data to create a map. In the research and optimization of real-time Simultaneous Localization and Mapping of indoor robot based on binocular vision, propose a method of assisted positioning with key frame map, and a method of feature matching optimization and relocation, which combines various pose optimization to achieve the accuracy of the robot indoors positioning and map construction.