Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 37, 2020 No. 1
57-61

Iterative data association algorithm for line-based monocular SLAM

Wei Xinyu1,2
Huang Jun2
Yang Xiaofei2
Peng Junjie1
1. School of Computer Engineering & Science, Shanghai University, Shanghai 200444, China
2. Shanghai Advanced Research Institute, Chinese Academy of Sciences, Shanghai 201210, China
DOI: 10.19734/j.issn.1001-3695.2018.05.0508

Abstract

Aiming at the data association problem of line-based monocular SLAM, this paper proposed a iterative data association algorithm based on confirmation of endpoint patch. The algorithm obtained closest feature line pairs according to approximate collinearity and approximate coincidence of endpoints, then used directional search of endpoint patches to remove the error pairs. Iterative approach was used to improve accuracy. The algorithm comprehensively used geometric constraint and image similarity of feature line pairs. The experiments were carried out on a public dataset. By comparison with other similar methods, it proves that the proposed data association approach not only satisfies real-time requirement, but also has a good performance on matching amount and matching accuracy.

Foundation Support

国家自然科学基金资助项目(61201446)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2018.05.0508
Publish at: Application Research of Computers Printed Article, Vol. 37, 2020 No. 1
Section: Algorithm Research & Explore
Pages: 57-61
Serial Number: 1001-3695(2020)01-012-0057-05

Publish History

[2020-01-05] Printed Article

Cite This Article

魏鑫燏, 黄俊, 杨晓飞, 等. 基于线特征的单目SLAM中的迭代数据关联算法 [J]. 计算机应用研究, 2020, 37 (1): 57-61. (Wei Xinyu, Huang Jun, Yang Xiaofei, et al. Iterative data association algorithm for line-based monocular SLAM [J]. Application Research of Computers, 2020, 37 (1): 57-61. )

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  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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