汽车工程 ›› 2022, Vol. 44 ›› Issue (12): 1809-1817.doi: 10.19562/j.chinasae.qcgc.2022.12.002
所属专题: 智能网联汽车技术专题-感知&HMI&测评2022年
收稿日期:
2022-07-04
修回日期:
2022-07-26
出版日期:
2022-12-25
发布日期:
2022-12-22
通讯作者:
蒋朝阳
E-mail:cjiang@bit.edu.cn
基金资助:
Chaoyang Jiang(),Tianran Lan,Xiaoni Zheng,Jiulong Gao,Xuetong Ye
Received:
2022-07-04
Revised:
2022-07-26
Online:
2022-12-25
Published:
2022-12-22
Contact:
Chaoyang Jiang
E-mail:cjiang@bit.edu.cn
摘要:
可靠的定位与导航是实现自动驾驶的先决条件。单车视觉同时定位与建图(SLAM)技术能够在GNSS拒止的情况下实现车辆的定位,但累积误差会随运行时间逐渐增加,难以持续准确完成定位任务。通过多车协同视觉SLAM可以提升定位效果。本文提出了一种鲁棒、轻量化的分布式多车协同视觉SLAM系统,该系统以ORB-SLAM2作为视觉里程计,利用NetVLAD全局图像描述子实现多车间共视区域识别和数据关联;提出了一种基于数据相似性和结构一致性的方法,实现多车间闭环离群值剔除;提出了一种分布式位姿图优化方法,提高多车协同定位精度。经过自主搭建平台所采集的真实数据以及KITTI数据集测试,该系统相较于已有的主流视觉SLAM算法以及协同SLAM算法均具有更高的定位精度。
蒋朝阳,兰天然,郑晓妮,高九龙,叶学通. 分布式多车协同视觉SLAM系统[J]. 汽车工程, 2022, 44(12): 1809-1817.
Chaoyang Jiang,Tianran Lan,Xiaoni Zheng,Jiulong Gao,Xuetong Ye. Distributed Multi-vehicle Collaborative Visual SLAM System[J]. Automotive Engineering, 2022, 44(12): 1809-1817.
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