一种基于改进ORB和PROSAC特征点匹配的V-SLAM算法
TP391; 随着机器视觉的高速发展,视觉同步定位与地图构建(visual simultaneous localization and mapping,V-SLAM)成为室内定位、导航应用的研究热点.针对传统ORB算法提取特征点分布不均匀的问题,在前端采用四叉树算法管理特征点,实现特征点均匀化分布,并结合渐进抽样一致性(progressive sample consensus,PROSAC)算法剔除误匹配特征点;在后端,采用构建词袋(bag of words,BoW)法对关键帧进行回环检测,判断帧与帧之间是否存在回环,并采用光束平差(bundle adjustment,BA)法进行相机位姿优化...
Saved in:
| Published in | 河南理工大学学报（自然科学版） Vol. 42; no. 1; pp. 152 - 159 |
|---|---|
| Main Authors | , , |
| Format | Journal Article |
| Language | Chinese |
| Published |
河南理工大学 物理与电子信息学院,河南 焦作 454000%河南理工大学 土木工程学院,河南 焦作 454000
2023
|
| Subjects | |
| Online Access | Get full text |
| ISSN | 1673-9787 |
| DOI | 10.16186/j.cnki.1673-9787.2021040137 |
Cover
| Abstract | TP391; 随着机器视觉的高速发展,视觉同步定位与地图构建(visual simultaneous localization and mapping,V-SLAM)成为室内定位、导航应用的研究热点.针对传统ORB算法提取特征点分布不均匀的问题,在前端采用四叉树算法管理特征点,实现特征点均匀化分布,并结合渐进抽样一致性(progressive sample consensus,PROSAC)算法剔除误匹配特征点;在后端,采用构建词袋(bag of words,BoW)法对关键帧进行回环检测,判断帧与帧之间是否存在回环,并采用光束平差(bundle adjustment,BA)法进行相机位姿优化,修正相机位姿.在图像特征点提取和匹配实验中,通过与传统ORB算法及其他方法对比,证明本文算法具有较好的运算效率.与ORB_SLAM-modified算法进行轨迹对比实验,分析生成的点云图,结果表明,本文算法具有较高的可靠性和精确度. |
|---|---|
| AbstractList | TP391; 随着机器视觉的高速发展,视觉同步定位与地图构建(visual simultaneous localization and mapping,V-SLAM)成为室内定位、导航应用的研究热点.针对传统ORB算法提取特征点分布不均匀的问题,在前端采用四叉树算法管理特征点,实现特征点均匀化分布,并结合渐进抽样一致性(progressive sample consensus,PROSAC)算法剔除误匹配特征点;在后端,采用构建词袋(bag of words,BoW)法对关键帧进行回环检测,判断帧与帧之间是否存在回环,并采用光束平差(bundle adjustment,BA)法进行相机位姿优化,修正相机位姿.在图像特征点提取和匹配实验中,通过与传统ORB算法及其他方法对比,证明本文算法具有较好的运算效率.与ORB_SLAM-modified算法进行轨迹对比实验,分析生成的点云图,结果表明,本文算法具有较高的可靠性和精确度. |
| Author | 徐婉琳 王红星 张勃阳 |
| AuthorAffiliation | 河南理工大学 物理与电子信息学院,河南 焦作 454000%河南理工大学 土木工程学院,河南 焦作 454000 |
| AuthorAffiliation_xml | – name: 河南理工大学 物理与电子信息学院,河南 焦作 454000%河南理工大学 土木工程学院,河南 焦作 454000 |
| Author_FL | XU Wanlin WANG Hongxing ZHANG Boyang |
| Author_FL_xml | – sequence: 1 fullname: WANG Hongxing – sequence: 2 fullname: XU Wanlin – sequence: 3 fullname: ZHANG Boyang |
| Author_xml | – sequence: 1 fullname: 王红星 – sequence: 2 fullname: 徐婉琳 – sequence: 3 fullname: 张勃阳 |
| BookMark | eNrjYmDJy89LZWBQMTTQMzQztDDTz9JLzsvOBHLMjXUtzS3M9YwMjAwNTAwMjc1ZGDjhwhwMvMXFmUkGhkBobGxgxMlg82RHw_PlvU_n73qyq-_ZlJ0v9s_2D3J6OqknIMg_2NH5eefOp_sanzftfNqz82Vr7_NZLWG6wT6Ovs_XTX-2eSoPA2taYk5xKi-U5mYIcXMNcfbQ9fF393R29NEtNjQwtdC1NE5LNE1OMjVJMjFLNTc1TzEyMTM3TDSxMDM2SDU2BtIWqWbJpikmZoZp5sZAkRRTC6Bi89QkI2OjpGRjbgYNiLHliXlpiXnp8Vn5pUV5QAvjs6rSKyorkoCeNQb5ycIYAGihXKE |
| ClassificationCodes | TP391 |
| ContentType | Journal Article |
| Copyright | Copyright © Wanfang Data Co. Ltd. All Rights Reserved. |
| Copyright_xml | – notice: Copyright © Wanfang Data Co. Ltd. All Rights Reserved. |
| DBID | 2B. 4A8 92I 93N PSX TCJ |
| DOI | 10.16186/j.cnki.1673-9787.2021040137 |
| DatabaseName | Wanfang Data Journals - Hong Kong WANFANG Data Centre Wanfang Data Journals 万方数据期刊 - 香港版 China Online Journals (COJ) China Online Journals (COJ) |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| DocumentTitle_FL | V-SLAM algorithm based on improved ORB and PROSAC feature point matching |
| EndPage | 159 |
| ExternalDocumentID | jzgxyxb202301018 |
| GrantInformation_xml | – fundername: 国家自然科学基金 funderid: (41807209) |
| GroupedDBID | 2B. 4A8 92I 93N ALMA_UNASSIGNED_HOLDINGS GROUPED_DOAJ PSX TCJ |
| ID | FETCH-LOGICAL-s1058-93fa5cb54b46e757d24671a48630e334868e6c5d461f73e33d5854b7eb232bc3 |
| ISSN | 1673-9787 |
| IngestDate | Thu May 29 04:07:53 EDT 2025 |
| IsPeerReviewed | false |
| IsScholarly | true |
| Issue | 1 |
| Keywords | 特征点匹配 改进ORB特征 渐进抽样一致性 3D点云构图 V-SLAM |
| Language | Chinese |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-s1058-93fa5cb54b46e757d24671a48630e334868e6c5d461f73e33d5854b7eb232bc3 |
| PageCount | 8 |
| ParticipantIDs | wanfang_journals_jzgxyxb202301018 |
| PublicationCentury | 2000 |
| PublicationDate | 2023 |
| PublicationDateYYYYMMDD | 2023-01-01 |
| PublicationDate_xml | – year: 2023 text: 2023 |
| PublicationDecade | 2020 |
| PublicationTitle | 河南理工大学学报（自然科学版） |
| PublicationTitle_FL | Journal of Henan Polytechnic University(Natural Science) |
| PublicationYear | 2023 |
| Publisher | 河南理工大学 物理与电子信息学院,河南 焦作 454000%河南理工大学 土木工程学院,河南 焦作 454000 |
| Publisher_xml | – name: 河南理工大学 物理与电子信息学院,河南 焦作 454000%河南理工大学 土木工程学院,河南 焦作 454000 |
| SSID | ssib010103302 ssj0003314027 ssib006704847 ssib051373601 ssib036434603 ssib031741050 ssib005319289 ssib002423915 ssib011070700 ssib008679455 ssib006595874 |
| Score | 2.3412397 |
| Snippet | TP391; 随着机器视觉的高速发展,视觉同步定位与地图构建(visual simultaneous localization and mapping,V-SLAM)成为室内定位、导航应用的研究热点.针对传统ORB算法提取特... |
| SourceID | wanfang |
| SourceType | Aggregation Database |
| StartPage | 152 |
| Title | 一种基于改进ORB和PROSAC特征点匹配的V-SLAM算法 |
| URI | https://d.wanfangdata.com.cn/periodical/jzgxyxb202301018 |
| Volume | 42 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVAON databaseName: DOAJ Directory of Open Access Journals issn: 1673-9787 databaseCode: DOA dateStart: 20200101 customDbUrl: isFulltext: true dateEnd: 99991231 titleUrlDefault: https://www.doaj.org/ omitProxy: true ssIdentifier: ssj0003314027 providerName: Directory of Open Access Journals |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpR3LahRBcIgRxIsoKr6JkD6FiTPTzwEvPZNZghgjSZTcwvTsJD5gRZNAzElFD0LiQRRBDx69efHi5qA_k83qX1jV09mdGJG4XpbamuruejRd1UV3teeNBkbFzPDAj_JS-Awctm84h80Kj_LCMFMKm7qYuiEmb7Fr83x-aPhh7dTS6ooZL9b_eK9kEKsCDuyKt2T_wbK9TgEBMNgXfsHC8HsgG5OMkUThYYVMEi2JmiAZJ3GDJNp-0kRlJBMkBjgmmSJJg8TJ9ExiySKi0psz07M6xeYqtjScJBlElxYTOYxKLRATxe0QksTQM7vtz17XU3bojMQSB0ooqR6z3I13LTJCfGbbIhk0D4gSdixoyxHQDPlHYIJoUQMEUdrSgFApUQqlUNBKWw5BLuFkj8NaKysOEleteskO-wXkSxAA9ejIqkeBzvokVgXAInYXY0cVxwndQ5ISbUmgL0VROdCLI3FJlOqGs53wg6lhzAmi4xp1ZfHMYgDmjhr5ZWhfHVqlhUQ3agoB9mKUNkr3szLmVKmr3gGVjmHFRHy_mw_MOUywFKci6hd0pWrUEv-q5L_ZqzlUIakfSxdUOY_Lon0rS-U-w6qasYvEwqpW_D4nj088WC9ftO7fHe-NMB5h_gLzBbIf3PSOnN5bX1p7vGbQ-FhWUR3yDkcSgtNaFsZFrPhkwh4XFdUeZMDym6q2YxISXGBtR471K1n_qneIz6jUKuxhtiWoVcSE6B3PWff_wwaBif7BCA7CUOFOhmBwSWnIAvsQdU_uI97orlau_EUn9lZiazFvLdUC6Lnj3jG38x3R1TJ2whtav3PSu7r99Un302bn49b21qudN-0f3z_A8tR5vVEtTN2X7c63p91n7c5G--eLze7759Wi0_38bufL21PeXCObSyd996CLvwxCQmBFF3NeGM4ME6XkshlBmBbmTAkalFgSQKhSFLzJRLgoKWCaXAGxLA3s-0xBT3vDrQet8ow3ooowKAKa07AoGQ1MLppF2DRFKZik1LCz3mUn7IJbr5cXfp8B5w5Ac947inCVc73gDa88Wi0vwi5kxVyy8-YXDX3PjQ |
| linkProvider | Directory of Open Access Journals |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=%E4%B8%80%E7%A7%8D%E5%9F%BA%E4%BA%8E%E6%94%B9%E8%BF%9BORB%E5%92%8CPROSAC%E7%89%B9%E5%BE%81%E7%82%B9%E5%8C%B9%E9%85%8D%E7%9A%84V-SLAM%E7%AE%97%E6%B3%95&rft.jtitle=%E6%B2%B3%E5%8D%97%E7%90%86%E5%B7%A5%E5%A4%A7%E5%AD%A6%E5%AD%A6%E6%8A%A5%EF%BC%88%E8%87%AA%E7%84%B6%E7%A7%91%E5%AD%A6%E7%89%88%EF%BC%89&rft.au=%E7%8E%8B%E7%BA%A2%E6%98%9F&rft.au=%E5%BE%90%E5%A9%89%E7%90%B3&rft.au=%E5%BC%A0%E5%8B%83%E9%98%B3&rft.date=2023&rft.pub=%E6%B2%B3%E5%8D%97%E7%90%86%E5%B7%A5%E5%A4%A7%E5%AD%A6+%E7%89%A9%E7%90%86%E4%B8%8E%E7%94%B5%E5%AD%90%E4%BF%A1%E6%81%AF%E5%AD%A6%E9%99%A2%2C%E6%B2%B3%E5%8D%97+%E7%84%A6%E4%BD%9C+454000%25%E6%B2%B3%E5%8D%97%E7%90%86%E5%B7%A5%E5%A4%A7%E5%AD%A6+%E5%9C%9F%E6%9C%A8%E5%B7%A5%E7%A8%8B%E5%AD%A6%E9%99%A2%2C%E6%B2%B3%E5%8D%97+%E7%84%A6%E4%BD%9C+454000&rft.issn=1673-9787&rft.volume=42&rft.issue=1&rft.spage=152&rft.epage=159&rft_id=info:doi/10.16186%2Fj.cnki.1673-9787.2021040137&rft.externalDocID=jzgxyxb202301018 |
| thumbnail_s | http://utb.summon.serialssolutions.com/2.0.0/image/custom?url=http%3A%2F%2Fwww.wanfangdata.com.cn%2Fimages%2FPeriodicalImages%2Fjzgxyxb%2Fjzgxyxb.jpg |