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A method and system for positioning and composition by improving the orb-slam algorithm

An algorithm and composition technology, applied in the direction of control/adjustment system, calculation, computer components, etc., can solve the problems of consumption, large calculation time, small application range, etc., to improve matching accuracy, shorten processing and calculation time, shorten processing time effect of time

Active Publication Date: 2021-10-29
CHANGSHA UNIVERSITY
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Problems solved by technology

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a method and system for realizing positioning and composition by improving the ORB-SLAM algorithm. Errors are prone to occur, resulting in the inability to perform feature matching, and technical problems such as narrow application range

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[0057] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0058] Such as Figure 10 As shown, the present invention realizes the method for positioning and composition by improving the ORB-SLAM algorithm and comprises the following steps:

[0059] (1) Use the depth vision sensor carried by the robot to collect two consecutive images in the data set to obtain a color image of each image (such as figure 1 shown) with the depth image (such as figure 2...

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Abstract

The invention discloses a method for realizing positioning and composition by improving the ORB-SLAM algorithm, comprising: using a depth vision sensor carried by a robot to collect two consecutive images in a data set to obtain a color image and a depth image of each image respectively , use the salient region detection algorithm to extract the region of interest from the obtained color image, use the threshold segmentation method to optimize the extracted region of interest to obtain the optimized image, and use the ORB algorithm in the discretized scale space The obtained optimized two images are subjected to feature extraction to obtain the feature descriptors of the two images, and the feature descriptors of the obtained two images are subjected to feature matching to generate the result of feature matching of the two images, and the obtained two images are used The transformation matrix is ​​obtained from the result of image feature matching. The invention can solve the technical problems that the existing ORB-SLAM algorithm is easy to generate errors, which leads to the inability to perform feature matching and the narrow application range.

Description

technical field [0001] The invention belongs to the technical field of machine vision and machine learning, and more specifically relates to a method and system for realizing positioning and composition by improving the ORB-SLAM algorithm. Background technique [0002] The FAST and Rotated BRIEF (Oriented FAST and Rotated BRIEF, ORB) features with orientation are valued by researchers because of their fast extraction speed and easy matching and comparison. In 2015, Mur-ArtalR and others introduced ORB into the real-time positioning and map construction (simulation location and mapping, referred to as SLAM) algorithm, and proposed to use ORB features for positioning tracking and environment mapping to realize the SLAM system (that is, ORB- SLAM system), which has become one of the more easy-to-use and complete systems in modern SLAM systems. [0003] However, there are still some shortcomings and problems in the traditional ORB-SLAM system: First, the entire ORB-SLAM system ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G06K9/00G06K9/34G06K9/62
CPCG05D1/0231G06V20/10G06V10/267G06F18/22
Inventor 李方敏王晓丹旷海兰刘新华周舟王雷阳超
Owner CHANGSHA UNIVERSITY
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