激光和视觉融合SLAM方法研究综述
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摘要
激光和视觉传感器在SLAM应用中都有其局限性,基于激光和视觉传感器融合的SLAM方法能够有效的利用各个传感器的优势,弥补传感器在某些特殊环境下的劣势,成为当前研究的热点之一;在分析激光SLAM和视觉SLAM优缺点的基础上,对激光和视觉融合的SLAM方法的研究现状进行概括和总结;介绍了激光和视觉融合SLAM的主要标志性成果,总结了激光和视觉传感器融合SLAM的关键性问题,包括激光和视觉传感器数据的外部标定、激光和视觉传感器数据融合方法,对激光和视觉融合SLAM方法的优缺点和主要的应用领域进行了总结;最后,对激光和视觉融合SLAM的主要发展趋势及研究热点进行了讨论。
Both the laser-based simultaneous localization and mapping(SLAM)and vision-based SLAM have limitation in specific environment,the SLAM with laser-camera fusion sensor can take advantage of outstanding features and make up the disadvantages of each sensors in these environment.Therefore,the SLAM with laser-camera fusion sensor has got much attention.The research of SLAM with laser-camera fusion sensor are reviewed and some outstanding achievements are presented to get a better understanding.Then the extrinsic calibration of camera and laser and laser-camera data fusion are analyzed in detail.And the advantages and disadvantages of the SLAM with laser-camera fusion sensor and its main application fields are summarized.In the end,the main trends and research hotspots of SLAM with laser-camera fusion sensor are discussed.
Both the laser-based simultaneous localization and mapping(SLAM)and vision-based SLAM have limitation in specific environment,the SLAM with laser-camera fusion sensor can take advantage of outstanding features and make up the disadvantages of each sensors in these environment.Therefore,the SLAM with laser-camera fusion sensor has got much attention.The research of SLAM with laser-camera fusion sensor are reviewed and some outstanding achievements are presented to get a better understanding.Then the extrinsic calibration of camera and laser and laser-camera data fusion are analyzed in detail.And the advantages and disadvantages of the SLAM with laser-camera fusion sensor and its main application fields are summarized.In the end,the main trends and research hotspots of SLAM with laser-camera fusion sensor are discussed.
引文
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[27]Li Ganhua,Liu Yunhui,Dong Li,et al.An algorithm for extrinsic parameters calibration of a camera and a laser range finder using line features[J].2007:3854-3859.
[28]Hu Zhaozheng,Li Yicheng,Li Na,et al.,Extrinsic calibration of 2-d laser rangefinder and camera from single shot based on minimal solution[J].IEEE Transactions on Instrumentation&Measurement,2016,65(4):915-929.
[29]Sim Sungdae,Sock Juil,Kwak Kiho,Indirect correspondence-based robust extrinsic calibration of lidar and camera[J].Sensors,2016,16(6):933.
[30]Pandey Gaurav,Mcbride James R,Savarese Silvio,et al.Automatic extrinsic calibration of vision and lidar by maximizing mutual information[J].Journal of Field Robotics,2015,32(5):696-722.
[31]Levinson Jesse,Thrun Sebastian.Automatic online calibration of cameras and lasers[C].in Robotics:Science and Systems,Berlin,2013.
[32]Napier Ashley,Corke Peter,Newman Paul.Cross-calibration of push-broom 2dlidars and cameras in natural scenes[A].in IEEE International Conference on Robotics and Automation[C].Karlsruhe,2013:3679-3684.
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[34]Geiger Andreas,Moosmann Frank,Carmer,et al.Automatic camera and range sensor calibration using a single shot[A].in IEEE International Conference on Robotics and Automation[C].Saint Paul,2012:3936-3943.
[35]Khosravian Alireza,Chin Tat Jun,Reid Ian.A branch-andbound algorithm for checkerboard extraction in camera-laser calibration[A].in 2017IEEE International Conference on Robotics and Automation(ICRA)[C].Singapore,2017:6495-6502.
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[37]Wasielewski S,Strauss Olivier.Calibration of a multi-sensor system laser rangefinder/camera[C].in Proceedings of the Intelligent Vehicles'95Symposium,Detroit,1995:472-477.
[38]Ha Jong Eun,Extrinsic calibration of a camera and laser range finder using a new calibration structure of a plane with a triangular hole[J].International Journal of Control Automation&Systems,2012,10(6):1240-1244.
[39]Krause Stefan,Evert Robert.Remission based improvement of extrinsic parameter calibration of camera and laser scanner[A].in International Conference on Control Automation Robotics&Vision,Remission based improvement of extrinsic parameter calibration of camera and laser scanner[C].2012:829-834.
[40]Hillemann M,Jutzi B.Ucalmicel-unified intrinsic and extrinsic calibration of a multi-camera and a laserscanner[J].Isprs Annals of Photogrammetry Remote Sensing&Spatial Information Sciences,2017,IV-2/W3:17-24.
[41]Shi Kunfeng,Dong Qiulei,Wu Fuchao,Weighted similarityinvariant linear algorithm for camera calibration with rotating 1-d objects[J].2012:3806-3812.
[42]Underwood James,Hill Andrew,Scheding Steve.Calibration of range sensor pose on mobile platforms[A].in Ieee/rsj International Conference on Intelligent Robots and Systems[C].San Diego,2007:3866-3871.
[43]Bok Yunsu,Choi Dong Geol,Kweon in so.Extrinsic calibration of a camera and a 2dlaser without overlap[J].Robotics&Autonomous Systems,2016,78(18):17-28.
[44]Ahmad Yousef Khalil M,MOHD Bassam J,AL-WIDYANKhalid,et al.Extrinsic calibration of camera and 2dlaser sensors without overlap[J].Sensors,2017,17(10):1-24.
[45]Bouguet Jean-yves.Camera calibration toolbox for matlab[EB/OL].http://www.vision.caltech.edu/bouguetj.2013.
[46]Guindel Carlos,Beltrán Jorge,Martín David,et al.Automatic extrinsic calibration for lidar-stereo vehicle sensor setups[A].in IEEE International Conference on Intelligent Transportation Systems[C].Mielparque Yokohama,2017.
[47]Wen Shuhuan,Othman Kamal Mohammed,Rad Ahmad B,et al.Indoor slam using laser and camera with closed-loop controller for nao humanoid robot[J].Abstract and Applied A-nalysis,2014,2014(1):1-8.
[48]Amarasinghe Dilan,Mann George K I,Gosine Raymond G.Integrated laser-camera sensor for the detection and localization of landmarks for robotic applications[A].in IEEE International Conference on Robotics and Automation[C].Pasadena,2008:4012-4017.
[49]Zhang Xinzheng,Rad A B,Wong Y K.Sensor fusion of monocular cameras and laser rangefinders for line-based simultaneous localization and mapping(slam)tasks in autonomous mobile robots[J].2012,12(1):429-452.
[50]Sun Fengchi,Zhou Yuan,Li Chao,et al.Research on active slam with fusion of monocular vision and laser range data[A].in the 8th world congress on intelligent control and automation[C].2010:6550-6554.
[51]Shen Jiali,Hu Huosheng.Svm based slam algorithm for autonomous mobile robots[A].in International Conference on Mechatronics and Automation[C].2007:337-342.
[52]Waske B,Benediktsson J A,Fusion of support vector machines for classification of multisensor data[J].IEEE Transactions on Geoscience&Remote Sensing,2007,45(12):3858-3866.
[53]Chang H J,Lee C S G,Lu Y H,et al.P-slam:Simultaneous localization and mapping with environmental-structure prediction[J].IEEE Transactions on Robotics,2007,23(2):281-293.
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