摘要
对基于RGB-D传感器的室内环境3D地图的建立方法进行研究,针对最流行的RGBD-SLAM算法在建立完整3D地图时遇到的问题,提出了两个方面改进。一是改进子地图划分标准,使得多层图抽象可以更好的反映环境的拓扑结构,并具有更高的效率;二是在地图输出模块中添加冗余点去除模块,使得最后得到的地图数据量减少,为后续操作提供更准确的数据。实验中,将改进的方法和原始方法进行比较,比较结果表明,两个改进在建立室内3D地图时是完全有效的。
The building method of the indoor 3D environment using the RGB-D sensor is researched, and the problem of using fa mous RGBD-SLAM algorithm to build a complete 3D map is analyzed, and then two improvements are proposed. First, the sub map dividing method is advanced, which makes the multi-graph abstraction better reflect the topology of the environment, and become more efficient. Second, a redundant point removing module in the map output module is added, which can reduce the re sulting map data and provide more accurate data for the follow-up operations. In the experiment, the improved method is com pared with the original one, and the results demonstrate the establishment of two improvements for indoor 3D map building is completely valid.
出处
《计算机工程与设计》
CSCD
北大核心
2014年第1期203-207,共5页
Computer Engineering and Design
基金
国际热核聚变实验堆(ITER)计划专项基金项目(2011GB113005)
