Image appearance based loop closure detecting method in monocular vision SLAM (simultaneous localization and mapping)
A closed-loop detection and monocular vision technology, applied in two-dimensional position/channel control, instrument, character and pattern recognition, etc., can solve the closed-loop detection requirements that cannot meet the efficiency and real-time of SLAM problems, and are prone to error closed-loop Detection, low accuracy and other issues
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[0041] The technical scheme of the present invention is described in detail below in conjunction with accompanying drawing:
[0042] The closed-loop detection method based on image appearance in the monocular vision SLAM of the present invention, its basic process is as follows figure 1 shown, including the following steps:
[0043] Step 1. The mobile robot collects the current image with its own monocular camera, and extracts the visual bag-of-words feature of the current image.
[0044]In the BoVW image feature model (for details, please refer to [T. Botterill, S. Mill, R. Green. Bags-of-words-driven, single camera simultaneous localization and mapping. Journal of Field Robotics, 2011, 28 (2) :204-226]), a visual dictionary is built with a large number of image local visual feature vectors, and each local visual feature is used as a visual word in the visual dictionary. In this way, based on the created visual dictionary, any image can be used by visual The set of visual w...
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