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首页> 外文会议>International Conference on Robotics and Automation >FMD Stereo SLAM: Fusing MVG and Direct Formulation Towards Accurate and Fast Stereo SLAM
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FMD Stereo SLAM: Fusing MVG and Direct Formulation Towards Accurate and Fast Stereo SLAM

机译：FMD Stereo Slam：融合MVG和直接配方，准确，快速立体声猛击

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摘要

We propose a novel stereo visual SLAM framework considering both accuracy and speed at the same time. The framework makes full use of the advantages of key-feature-based multiple view geometry (MVG) and direct-based formulation. At the front-end, our system performs direct formulation and constant motion model to predict a robust initial pose, reprojects local map to find 3D-2D correspondence and finally refines pose by the reprojection error minimization. This frontend process makes our system faster. At the back-end, MVG is used to estimate 3D structure. When a new keyframe is inserted, new mappoints are generated by triangulating. In order to improve the accuracy of the proposed system, bad mappoints are removed and a global map is kept by bundle adjustment. Especially, the stereo constraint is performed to optimize the map. This back-end process makes our system more accurate. Experimental evaluation on EuRoC dataset shows that the proposed algorithm can run at more than 100 frames per second on a consumer computer while achieving highly competitive accuracy.
机译：我们提出了一种小说立体视觉框架，同时考虑精度和速度。该框架充分利用了基于钥匙特征的多视图几何（MVG）和基于直接的配方的优点。在前端，我们的系统执行直接配方和恒定运动模型以预测稳健的初始姿势，恢复本地地图以找到3D-2D对应关系，最终通过重注误差最小化精确地改进姿势。这个前端过程使我们的系统更快。在后端，MVG用于估计3D结构。插入新关键帧时，通过三角化生成新的Mappoints。为了提高所提出的系统的准确性，删除了糟糕的Mappoints，并通过捆绑调整保留全球地图。特别地，执行立体约束以优化地图。这种后端过程使我们的系统更准确。 EUROC数据集的实验评估显示，该算法可以在消费者计算机上每秒100多帧运行，同时实现高竞争的准确性。

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