双目视觉与惯导融合的移动机器人定位方法
为了提高移动机器人的定位精度，提出一种双目视觉与惯导融合的视觉SLAM算法。在视觉SLAM前端部分，为了保持直接法计算速度快及特征法精度高的特点，提出一种融合直接法和特征法的半直接法双目视觉里程计。在后端优化阶段，将视觉数据与IMU数据相互融合，在滑动窗口中以非线性优化的方式构建误差函数，优化位姿计算精度。在EuRoc数据集中对本文提出的算法进行试验验证。结果表明，与开源的视觉惯导融合的SLAM系统OKVIS、ROVIO和VINS-Mono相比，本文系统在Machine Hall与Vicon Room两个场景中的定位精度均得到了明显的提升，同时可以保持较高的运行效率。...
Saved in:
| Published in | Ce hui xue bao Vol. 50; no. 11; pp. 1512 - 1521 |
|---|---|
| Main Authors | , , , , |
| Format | Journal Article |
| Language | Chinese English |
| Published |
Beijing
Surveying and Mapping Press
01.11.2021
郑州大学信息工程学院,河南 郑州 450052%郑州大学地球科学与技术学院,河南 郑州 450052%郑州大学水利科学与工程学院,河南郑州450001 |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1001-1595 1001-1595 |
| DOI | 10.11947/j.AGCS.2021.20210250 |
Cover
| Abstract | 为了提高移动机器人的定位精度，提出一种双目视觉与惯导融合的视觉SLAM算法。在视觉SLAM前端部分，为了保持直接法计算速度快及特征法精度高的特点，提出一种融合直接法和特征法的半直接法双目视觉里程计。在后端优化阶段，将视觉数据与IMU数据相互融合，在滑动窗口中以非线性优化的方式构建误差函数，优化位姿计算精度。在EuRoc数据集中对本文提出的算法进行试验验证。结果表明，与开源的视觉惯导融合的SLAM系统OKVIS、ROVIO和VINS-Mono相比，本文系统在Machine Hall与Vicon Room两个场景中的定位精度均得到了明显的提升，同时可以保持较高的运行效率。 |
|---|---|
| AbstractList | 为了提高移动机器人的定位精度，提出一种双目视觉与惯导融合的视觉SLAM算法。在视觉SLAM前端部分，为了保持直接法计算速度快及特征法精度高的特点，提出一种融合直接法和特征法的半直接法双目视觉里程计。在后端优化阶段，将视觉数据与IMU数据相互融合，在滑动窗口中以非线性优化的方式构建误差函数，优化位姿计算精度。在EuRoc数据集中对本文提出的算法进行试验验证。结果表明，与开源的视觉惯导融合的SLAM系统OKVIS、ROVIO和VINS-Mono相比，本文系统在Machine Hall与Vicon Room两个场景中的定位精度均得到了明显的提升，同时可以保持较高的运行效率。 P227; 为了提高移动机器人的定位精度,提出一种双目视觉与惯导融合的视觉SLAM算法.在视觉SLAM前端部分,为了保持直接法计算速度快及特征法精度高的特点,提出一种融合直接法和特征法的半直接法双目视觉里程计.在后端优化阶段,将视觉数据与IMU数据相互融合,在滑动窗口中以非线性优化的方式构建误差函数,优化位姿计算精度.在EuRoc数据集中对本文提出的算法进行试验验证.结果表明,与开源的视觉惯导融合的SLAM系统OKVIS、ROVIO和VINS-Mono相比,本文系统在Machine Hal l与Vi con Room两个场景中的定位精度均得到了明显的提升,同时可以保持较高的运行效率. |
| Author | 李宏伟 邓晨 许智宾 肖志远 张斌 |
| AuthorAffiliation | 郑州大学信息工程学院,河南 郑州 450052%郑州大学地球科学与技术学院,河南 郑州 450052%郑州大学水利科学与工程学院,河南郑州450001 |
| AuthorAffiliation_xml | – name: 郑州大学信息工程学院,河南 郑州 450052%郑州大学地球科学与技术学院,河南 郑州 450052%郑州大学水利科学与工程学院,河南郑州450001 |
| Author_FL | LI Hongwei ZHANG Bin XIAO Zhiyuan DENG Chen XU Zhibin |
| Author_FL_xml | – sequence: 1 fullname: XU Zhibin – sequence: 2 fullname: LI Hongwei – sequence: 3 fullname: ZHANG Bin – sequence: 4 fullname: XIAO Zhiyuan – sequence: 5 fullname: DENG Chen |
| Author_xml | – sequence: 1 fullname: 许智宾 – sequence: 2 fullname: 李宏伟 – sequence: 3 fullname: 张斌 – sequence: 4 fullname: 肖志远 – sequence: 5 fullname: 邓晨 |
| BookMark | eNpNkL9Lw0AUxw-pYFv9E5zEMfHd5S65G0vQKhQc1Llc0kQJktTGorsiKlZdFKzimk7t4KJR_5v8-jOMVtDlvTd8-P54NVTxA99BaBGDirGgxoqnNprmlkqA4J8BhMEMqmIArGAmWOXfPYdqYegBME51VkUivbnKH8dFdFZEF8nrdXYySScfxfMgvT3Ph6d59J5ejrKnOH0YJXGcjofJ5yC7f8te7ubRrCv3Q2fhd9fRztrqtrmutDabG2ajpXQx4UJxOXM0QsFgklig6ZyWUWxJOdGxLm3hECyJCzp3GQWnQ8DucGbZAAJLQ0hNq6Plqe6R9F3p77a9oN_zS8e2vXdsfdfFpaIouaUp1-0FB30nPPwDSyuN0fIpVPsC9hpqQg |
| ClassificationCodes | P227 |
| ContentType | Journal Article |
| Copyright | Nov 2021. This work is published under https://creativecommons.org/licenses/by-nc-nd/4.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. Copyright © Wanfang Data Co. Ltd. All Rights Reserved. |
| Copyright_xml | – notice: Nov 2021. This work is published under https://creativecommons.org/licenses/by-nc-nd/4.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. – notice: Copyright © Wanfang Data Co. Ltd. All Rights Reserved. |
| DBID | 3V. 7X2 8FE 8FH 8FK ABUWG AEUYN AFKRA ATCPS AZQEC BBNVY BENPR BHPHI BKSAR CCPQU DWQXO GNUQQ HCIFZ LK8 M0K M7P PATMY PCBAR PHGZM PHGZT PIMPY PKEHL PQEST PQGLB PQQKQ PQUKI PRINS PYCSY 2B. 4A8 92I 93N PSX TCJ |
| DOI | 10.11947/j.AGCS.2021.20210250 |
| DatabaseName | ProQuest Central (Corporate) Agricultural Science Collection ProQuest SciTech Collection ProQuest Natural Science Journals ProQuest Central (Alumni) (purchase pre-March 2016) ProQuest Central (Alumni) ProQuest One Sustainability ProQuest Central UK/Ireland Agricultural & Environmental Science Collection ProQuest Central Essentials Biological Science Collection ProQuest Central Natural Science Collection Earth, Atmospheric & Aquatic Science Collection ProQuest One ProQuest Central ProQuest Central Student SciTech Premium Collection Biological Sciences Agricultural Science Database Biological Science Database Environmental Science Database Earth, Atmospheric & Aquatic Science Database ProQuest Central Premium ProQuest One Academic (New) Publicly Available Content Database ProQuest One Academic Middle East (New) ProQuest One Academic Eastern Edition (DO NOT USE) ProQuest One Applied & Life Sciences ProQuest One Academic ProQuest One Academic UKI Edition ProQuest Central China Environmental Science Collection 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) |
| DatabaseTitle | Agricultural Science Database Publicly Available Content Database ProQuest Central Student ProQuest One Academic Middle East (New) ProQuest Central Essentials ProQuest Central (Alumni Edition) SciTech Premium Collection ProQuest One Community College ProQuest Natural Science Collection ProQuest Central China Earth, Atmospheric & Aquatic Science Collection ProQuest Central ProQuest One Applied & Life Sciences ProQuest One Sustainability Natural Science Collection ProQuest Central Korea Agricultural & Environmental Science Collection Biological Science Collection ProQuest Central (New) ProQuest Biological Science Collection ProQuest One Academic Eastern Edition Earth, Atmospheric & Aquatic Science Database Agricultural Science Collection Biological Science Database ProQuest SciTech Collection Environmental Science Collection ProQuest One Academic UKI Edition Environmental Science Database ProQuest One Academic ProQuest One Academic (New) ProQuest Central (Alumni) |
| DatabaseTitleList | Agricultural Science Database |
| Database_xml | – sequence: 1 dbid: BENPR name: ProQuest Central url: http://www.proquest.com/pqcentral?accountid=15518 sourceTypes: Aggregation Database |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Astronomy & Astrophysics |
| DocumentTitle_FL | Localization method of mobile robot based on binocular vision and inertial navigation |
| EISSN | 1001-1595 |
| EndPage | 1521 |
| ExternalDocumentID | chxb202111009 |
| GrantInformation_xml | – fundername: 中国工程科技发展战略河南研究院战略咨询研究项目 funderid: (2020HENZT07) |
| GroupedDBID | -01 3V. 5VS 5XA 5XB 7X2 8FE 8FH 8FK 92E 92I ABJNI ABUWG ACGFS AEUYN AFKRA ALMA_UNASSIGNED_HOLDINGS ATCPS AZQEC BBNVY BENPR BHPHI BKSAR CCEZO CCPQU CCVFK CW9 DWQXO GNUQQ HCIFZ LK8 M0K M7P OK1 P2P PATMY PCBAR PHGZM PHGZT PIMPY PKEHL PQEST PQGLB PQQKQ PQUKI PRINS PYCSY TCJ TGP U1G U5K 2B. 4A8 93N IPNFZ PMFND PSX RIG |
| ID | FETCH-LOGICAL-p1289-f85e324075a2b03684100ca482616ac9e21a2f068f540ed20cd85bc0091a79a33 |
| IEDL.DBID | BENPR |
| ISSN | 1001-1595 |
| IngestDate | Thu May 29 04:11:08 EDT 2025 Sun Jul 13 04:59:11 EDT 2025 |
| IsDoiOpenAccess | true |
| IsOpenAccess | true |
| IsPeerReviewed | false |
| IsScholarly | true |
| Issue | 11 |
| Keywords | 同时定位与地图构建;视觉惯导融合;双目视觉;特征法;直接法 |
| Language | Chinese English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-p1289-f85e324075a2b03684100ca482616ac9e21a2f068f540ed20cd85bc0091a79a33 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 |
| OpenAccessLink | https://www.proquest.com/docview/2613542504?pq-origsite=%requestingapplication%&accountid=15518 |
| PQID | 2613542504 |
| PQPubID | 5229093 |
| PageCount | 10 |
| ParticipantIDs | wanfang_journals_chxb202111009 proquest_journals_2613542504 |
| PublicationCentury | 2000 |
| PublicationDate | 2021-11-01 |
| PublicationDateYYYYMMDD | 2021-11-01 |
| PublicationDate_xml | – month: 11 year: 2021 text: 2021-11-01 day: 01 |
| PublicationDecade | 2020 |
| PublicationPlace | Beijing |
| PublicationPlace_xml | – name: Beijing |
| PublicationTitle | Ce hui xue bao |
| PublicationTitle_FL | Acta Geodaetica et Cartographica Sinica |
| PublicationYear | 2021 |
| Publisher | Surveying and Mapping Press 郑州大学信息工程学院,河南 郑州 450052%郑州大学地球科学与技术学院,河南 郑州 450052%郑州大学水利科学与工程学院,河南郑州450001 |
| Publisher_xml | – name: Surveying and Mapping Press – name: 郑州大学信息工程学院,河南 郑州 450052%郑州大学地球科学与技术学院,河南 郑州 450052%郑州大学水利科学与工程学院,河南郑州450001 |
| SSID | ssj0058465 ssib005437539 ssib038074662 ssib051373695 ssib002263888 ssib000862384 |
| Score | 2.3367772 |
| Snippet | ... P227;... |
| SourceID | wanfang proquest |
| SourceType | Aggregation Database |
| StartPage | 1512 |
| SubjectTerms | Accuracy Algorithms Binocular vision Error functions Inertial navigation Localization Localization method Mathematical analysis Optimization Robots Simultaneous localization and mapping |
| Title | 双目视觉与惯导融合的移动机器人定位方法 |
| URI | https://www.proquest.com/docview/2613542504 https://d.wanfangdata.com.cn/periodical/chxb202111009 |
| Volume | 50 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwY2BQSTRPSzJOSkwCJt5UI10TI3NT3UTTFCDXKMnEwjQtGSgN2jvs62fmEWriFWEawcTgB9sLA1pWCSsTwQV1Sn4yaIxcH9jSNzY1AR24ZV9QqAu6NQo0uwq7QiMRerVCii34iDFmBlZgkWwBTPesTq5-AUGwshlU25qC5z-BnWhgRW4K3dMD7Mmb62fpObo7BwO7jEaGYALUOkBpd7KXJ-alJealI1VAboIM_NCWo4IjJKqFGJhS84QZJByLQWPZ-bmVCmoKYDZkqKJYhMHyaX_P89nrXixve7G888mOvmfN65-u3_NiXu_TCR3PZ7U8X777adeKZ3N2PZ254smuXU_XzXqyt_fZtJ3PNk8VZQh1cw1x9tCFXpSgWwD0paVumoVpKuhgPXPTRKMkYJVkYQL0IOi4cmCgmSUmW6YaGSYapRmYWaQB22epKUYGySkWpknJwOaVYaK5ZaKxsRgDS15-XqoEg4JhiqWJmUWSUaplaqJJaqpRorl5SmqSQWKSaaKxibmBpSSDDCxA4qGpvTgeETeSDHLQQELIJmdUJIHCE3Q4naUUfv3SDFwgpZDNfjIMLCVFpamywFq_JEkOGpVyDMzegRYAx1a-2g |
| linkProvider | ProQuest |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwY2BQSTRPSzJOSkwCJt5UI10TI3NT3UTTFCDXKMnEwjQtGSgN2jvs62fmEWriFWEawcSwD7YXBrSsElYmggvqlPxk0Bi5PrClb2xqAjpwy76gUBd0axRodhV2hUYi9GqFFFvwEWPQjR3eqZXlwC5csa2nCzC-VY2M3FxDnD10obcM6BYAy2ZL3TQL01TQqXTmpolGScDy3MLE0MAAdNY30EazxGTLVCPDRKM0AzOLNGDjJjXFyCA5xcI0KRnYNjFMNLdMBA2IAqsAVhPQDlcWBlYnV7-AIFhdAKrdTcHzrcBOO7DhYArdQ2RoaWKun6Xn6O4cDOyiGhmCCVBrBKWdy16emJeWmJeOVOG5CTLwQ1uqCo6QpCXEwJSaJ8wg4VgMGjvPz61UUFMAsyFDI8UiDJZP-3uez173Ynnbi-WdT3b0PWte_3T9nhfzep9O6Hg-q-X58t1Pu1Y8m7Pr6cwVT3bterpu1pO9vc-m7Xy2eaooQyhNgkyMgSUvPy9VgkHBMMXSxMwiySjVMjXRJDXVKNHcPCU1ySAxyTTR2MTcwFKSQQYWIPHQ3FUcj0gLkgxy0EBCyCZnVCSBwhN0GJ6lFH798gycHiG-PvE-nn7e0gxcIG2QjYYyDCwlRaWpssAWR0mSHDRaFRgSaJ2SALLm-Ho |
| 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=%E5%8F%8C%E7%9B%AE%E8%A7%86%E8%A7%89%E4%B8%8E%E6%83%AF%E5%AF%BC%E8%9E%8D%E5%90%88%E7%9A%84%E7%A7%BB%E5%8A%A8%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%AE%9A%E4%BD%8D%E6%96%B9%E6%B3%95&rft.jtitle=Ce+hui+xue+bao&rft.au=%E8%AE%B8%E6%99%BA%E5%AE%BE&rft.au=%E6%9D%8E%E5%AE%8F%E4%BC%9F&rft.au=%E5%BC%A0%E6%96%8C&rft.au=%E8%82%96%E5%BF%97%E8%BF%9C&rft.date=2021-11-01&rft.pub=Surveying+and+Mapping+Press&rft.issn=1001-1595&rft.eissn=1001-1595&rft.volume=50&rft.issue=11&rft.spage=1512&rft_id=info:doi/10.11947%2Fj.AGCS.2021.20210250 |
| thumbnail_s | http://utb.summon.serialssolutions.com/2.0.0/image/custom?url=http%3A%2F%2Fwww.wanfangdata.com.cn%2Fimages%2FPeriodicalImages%2Fchxb%2Fchxb.jpg |