近赤外光を用いた視覚的同時自己位置推定・地図構築技術の研究
Research on visual simultaneous localization and mapping technology based on near infrared light
環境光の影響を受けにくい近赤外光を光源に用い、光度パラメータ推定や露光時間補正によりDirect Sparse Odometryの位置推定精度を向上させるNIR-VSLAMを提案した。
著者: Rui Ma, Mengfang Liu, Boliang Li, Xinghui Li
分類: cs.RO
原文アブストラクト
In view of the problems that visual simultaneous localization and mapping (VSLAM) are susceptible to environmental light interference and luminosity inconsistency, the visual simultaneous localization and mapping technology based on near infrared perception (NIR-VSLAM) is proposed. In order to avoid ambient light interference, the near infrared light is innovatively selected as the light source. The luminosity parameter estimation of error energy function, halo factor and exposure time and the light source irradiance correction method are proposed in this paper, which greatly improves the positioning accuracy of Direct Sparse Odometry (DSO). The feasibility of the proposed method in four large scenes is verified, which provides the reference for visual positioning in automatic driving and mobile robot.
