Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 37, 2020 No. 8
2526-2530

RGB-D SLAM system based on plane constraint

Huang Ningsheng1,2
Chen Jing1,2
Miao Yuandong1,2
1. School of Optics & Photonics, Beijing Institute of Technology, Beijing 100081, China
2. Beijing Engineering Research Center for Mixed Reality & Advanced Display, Beijing 100081, China
DOI: 10.19734/j.issn.1001-3695.2019.03.0100

Abstract

Considering that there are many planar features in the indoor environment, this paper proposed a real time indoor RGB-D simultaneous localization and mapping(SLAM) system using planar features to optimize camera poses and map. In frontend, this system employed iterative closest point(ICP) and direct method to jointly estimate camera poses. In backend, this system extracted planar features of camera keyframes, and constructed multiple constraints based on planar features to optimize camera keyframes poses and parameters of planar features, and incrementally constructed planar structure of environment. The results of experiments on multiple dataset sequences show that planar feature constraints can reduce the cumulative estimation errors of poses and this system can construct planar structure of environment with less storage space, the results of experiments on real environments show that system has feasibility and application value in the field of indoor augmented reality.

Foundation Support

装备预研领域基金资助项目
国家自然科学基金资助项目(61271375)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2019.03.0100
Publish at: Application Research of Computers Printed Article, Vol. 37, 2020 No. 8
Section: Technology of Graphic & Image
Pages: 2526-2530
Serial Number: 1001-3695(2020)08-061-2526-05

Publish History

[2020-08-05] Printed Article

Cite This Article

黄宁生, 陈靖, 缪远东. 基于平面约束的RGB-D SLAM系统 [J]. 计算机应用研究, 2020, 37 (8): 2526-2530. (Huang Ningsheng, Chen Jing, Miao Yuandong. RGB-D SLAM system based on plane constraint [J]. Application Research of Computers, 2020, 37 (8): 2526-2530. )

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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.

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