基于单目视觉的同时定位与地图构建方法综述.PDFVIP

第28 卷 第 6 期 计算机辅助设计与图形学学报 Vol. 28 No.6 2016 年6 月 Journal of Computer-Aided Design Computer Graphics Jun. 2016 基于单目视觉的同时定位与地图构建方法综述 1) 1,2)* 1) 刘浩敏 , 章国锋 , 鲍虎军 1) (浙江大学CADCG 国家重点实验室 杭州 310058) 2) (浙江大学工业信息物理融合系统协同创新中心 杭州 310058) (zhangguofeng@cad.zju.edu.cn) : 增强现实是一种在现实场景中无缝地融入虚拟物体或信息的技术, 能够比传统的文字、图像和视频等方式 更高效、直观地呈现信息，有着非常广泛的应用. 同时定位与地图构建作为增强现实的关键基础技术, 可以用来在未 知环境中定位自身方位并同时构建环境三维地图, 从而保证叠加的虚拟物体与现实场景在几何上的一致性. 文中首 先简述基于视觉的同时定位与地图构建的基本原理; 然后介绍几个代表性的基于单目视觉的同时定位与地图构建方 法并做深入分析和比较; 最后讨论近年来研究热点和发展趋势, 并做总结和展望. ：增强现实; 同时定位与地图构建; 运动推断结构; 多视图几何; 摄像机跟踪 ：TP391.41 A Survey of Monocular Simultaneous Localization and Mapping Liu Haomin1), Zhang Guofeng1,2)*, and Bao Hujun1) 1) (State Key Laboratory of CADCG, Zhejiang University, Hangzhou 310058) 2) (Collaborative Innovation Center for industrial Cyber-Physical System, Zhejiang University, Hangzhou 310058) Abstract: Augmented reality (AR) is a technique that allows to seamlessly composite virtual objects or informa- tion into real scene. Compared to traditional text, images and videos, AR is a more effective and intuitive way for information presentation and has wide applications. Simultaneous localization and mapping (SLAM) is a key fundamental technique for augmented reality, which provides the ability of self-localization in an unknown envi- ronment and mapping the 3D environment simultaneously. The localization and mapping enables fusion of virtual objects and real scenes in a geometrically consistent way. In this paper, we describe the basic principles of Visual SLAM, and introduce some state-of-the-art monocular SLAM methods with deep analysis and comparison. Fi- nally, we discuss some research tendency