一种基于曼哈顿世界假说下平面特征的RGB-D视觉室内定位方案

doi:10.3969/j.issn.1000-5641.2019.06.010

华东师范大学学报(自然科学版) ›› 2019, Vol. 2019 ›› Issue (6): 103-114.doi: 10.3969/j.issn.1000-5641.2019.06.010

一种基于曼哈顿世界假说下平面特征的RGB-D视觉室内定位方案

蒋育豪, 陈蕾

华东师范大学计算机科学与技术系, 上海 200062

收稿日期:2019-01-11 出版日期:2019-11-25 发布日期:2019-11-26
通讯作者: 陈蕾,女,副教授,研究方向为室内定位.E-mail:lchen@cs.ecnu.edu.cn. E-mail:lchen@cs.ecnu.edu.cn
作者简介:蒋育豪,男,硕士研究生,研究方向为视觉定位.E-mail:krovkov@163.com.

A plane-based localization scheme using RGB-D sensor for the Manhattan World assumption

JIANG Yu-hao, CHEN Lei

Department of Computer Science and Technology, East China Normal University, Shanghai 200062, China

Received:2019-01-11 Online:2019-11-25 Published:2019-11-26

摘要/Abstract

摘要： 将曼哈顿世界假说（Manhattan World assumption，MW）引入室内定位问题，提出了一种改进的基于RGB-D视觉与平面特征的室内定位方案，不仅能有效提高场景匹配的成功率，还可简化未知场景下的定位问题，提高定位效率和实时性，可用于对同步定位与建图SLAM（SimultaneousLocalization and Mapping）系统的扩展.创新点主要体现在：针对解释树匹配的时间开销随特征数指数级上升的问题，设计了根据曼哈顿帧的主方向进行分解的匹配方法；针对单条行进路径搜索效率有待提高的问题，提出了在初始位姿确定后采用4自由度的简化定位方案；针对单帧中遍历执行子图匹配耗时较长的问题，将小范围子图合并为大范围子图后进行匹配.实验结果表明，该方案相较已有的平面特征定位方法，能缩短成功定位所需的行进距离，并显著降低单条行进路径上的平均搜索耗时.

关键词: 定位, 同步定位与建图, 曼哈顿世界假说

Abstract: Using the Manhattan World assumption with plane-based indoor localization, an indoor positioning scheme based on plane features in RGB-D vision is proposed, which can be used to extend SLAM (Simultaneous Localization and Mapping) systems. A matching process based on the main direction of the Manhattan Frame is designed to reduce the exponentially increasing time consumed. Simplified localization with 4 degrees of freedom is adopted after the initial pose determination for the problem of low efficiency during exploration. Small subgraphs in each frame are merged into one subgraph for matching to reduce the time consumed for repetitive subgraph matching. The proposed scheme not only effectively increases the success rate of scene matching, but also simplifies positioning in unknown scenes and improves positioning efficiency. Experimental results show that the method can achieve successful localization with shorter path lengths and reduce computational cost for real-time applications.

Key words: localization, SLAM (Simultaneous Localization and Mapping), Manhattan World assumption

中图分类号:

TP399

蒋育豪, 陈蕾. 一种基于曼哈顿世界假说下平面特征的RGB-D视觉室内定位方案[J]. 华东师范大学学报(自然科学版), 2019, 2019(6): 103-114.

JIANG Yu-hao, CHEN Lei. A plane-based localization scheme using RGB-D sensor for the Manhattan World assumption[J]. Journal of East China Normal University(Natural Sc, 2019, 2019(6): 103-114.

参考文献

[1] GLOCKER B, SHOTTON J, CRIMINISI A, et al. Real-time RGB-D camera relocalization via randomized ferns for keyframe encoding[J]. IEEE transactions on visualization and computer graphics, 2015, 21(5):571-583.
[2] SE S, LOWE D G, LITTLE J J. Vision-based global localization and mapping for mobile robots[J]. IEEE Transactions on robotics, 2005, 21(3):364-375.
[3] MUR-ARTAL R, TARDÓS J D. Orb-slam2:An open-source slam system for monocular, stereo, and rgb-d cameras[J]. IEEE Transactions on Robotics, 2017, 33(5):1255-1262.
[4] SALAS-MORENO R F, NEWCOMBE R A, STRASDAT H, et al. Slam++:Simultaneous localisation and mapping at the level of objects[C]//Proceedings of the IEEE conference on computer vision and pattern recognition. 2013:1352-1359.
[5] SHI Y, XU K, NIEßNER M, et al. Planematch:Patch coplanarity prediction for robust rgb-d reconstruction[C]//Proceedings of the European Conference on Computer Vision (ECCV). 2018:750-766.
[6] FORSTNER W, KHOSHELHAM K. Efficient and accurate registration of point clouds with plane to plane correspondences[C]//Proceedings of the IEEE International Conference on Computer Vision. 2017:2165-2173.
[7] TAGUCHI Y, JIAN Y D, RAMALINGAM S, et al. Point-plane SLAM for hand-held 3D sensors[C]//2013 IEEE International Conference on Robotics and Automation. IEEE, 2013:5182-5189.
[8] FERNÁNDEZ-MORAL E, RIVES P, ARÉVALO V, et al. Scene structure registration for localization and mapping[J]. Robotics and Autonomous Systems, 2016, 75:649-660.
[9] SALAS-MORENO R F, GLOCKEN B, KELLY P H J, et al. Dense planar SLAM[C]//2014 IEEE International Symposium on Mixed and Augmented Reality (ISMAR). IEEE, 2014:157-164.
[10] HSIAO M, WESTMAN E, ZHANG G, ET AL. Keyframe-based dense planar SLAM[C]//2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2017:5110-5117.
[11] MA L, KERL C, STÜCKLER J, et al. CPA-SLAM:Consistent plane-model alignment for direct RGB-D SLAM[C]//2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2016:1285-1291.
[12] CHO H G, YEON S, CHOI H, et al. Detection and compensation of degeneracy cases for IMU-kinect integrated continuous SLAM with plane features[J]. Sensors, 2018, 18(4):935(9pages).
[13] COUGHLAN J M, YUILLE A L. Manhattan world:Compass direction from a single image by bayesian inference[C]//Proceedings of the Seventh IEEE International Conference on Computer Vision. IEEE, 1999, 2:941-947.
[14] SCHINDLER G, DELLAERT F. Atlanta world:An expectation maximization framework for simultaneous lowlevel edge grouping and camera calibration in complex man-made environments[C]//Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'04). IEEE, 2004, 1:I-I.
[15] STRAUB J, ROSMAN G, FREIFELD O, et al. A mixture of manhattan frames:Beyond the manhattan world[C]//Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 2014:3770-3777.
[16] RUSU R B, Cousins S. 3D is here:Point Cloud Library (PCL)[C]//IEEE International Conference on Robotics & Automation. 2011:1-4.
[17] GRIMSON W E L, LOZANO-PEREZ T. Localizing overlapping parts by searching the interpretation tree[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1987, 9(4):469-482.

一种基于曼哈顿世界假说下平面特征的RGB-D视觉室内定位方案

A plane-based localization scheme using RGB-D sensor for the Manhattan World assumption

RichHTML

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 13

编辑推荐

Metrics

本文评价

[1]	杨海, 李兵. 基于核矩阵等距映射的无线传感网络节点定位算法[J]. 华东师范大学学报(自然科学版), 2019, 2019(1): 115-123.
[2]	王荣荣, 薛旻辉, 李祥学, 钱海峰. 基于位置社交网络的高效定位算法[J]. 华东师范大学学报(自然科学版), 2016, 2016(2): 62-72.
[3]	刘丹, 童卫青. 基于鼻子下轮廓线的鼻尖定位法[J]. 华东师范大学学报(自然科学版), 2014, 2014(4): 54-61.
[4]	杨春霞, 侯连生. 盘基网柄菌粘附分子gp150的定位及其与PKA活性关系的研究[J]. 华东师范大学学报(自然科学版), 2013, 2013(5): 80-87.
[5]	宫学庆，王立, 何晓丰. 基于用户分组的广告定位[J]. 华东师范大学学报(自然科学版), 2013, 2013(3): 70-78.
[6]	代卉，侯连生. 盘基网柄菌发育中尿囊酸酶表达的定量定位研究[J]. 华东师范大学学报(自然科学版), 2012, 2012(4): 61-66.
[7]	金俊才，童卫青，梁晓妮，陈强，梅月平，刘丹. 基于椭圆拟合的近红外图像的眼睛精确定位法[J]. 华东师范大学学报(自然科学版), 2012, 2012(3): 103-110.
[8]	王基帆;童卫青. 基于数理形态学的近红外光图像实时人脸检测[J]. 华东师范大学学报(自然科学版), 2010, 2010(3): 39-47.
[9]	达良俊;宋坤. 浙江天童受损常绿阔叶林实验生态学研究(Ⅰ): 生态恢复实验与长期定位研究[J]. 华东师范大学学报(自然科学版), 2008, 2008(4): 1-11.
[10]	杨静;贺樑;顾君忠 . 非对称P2P模型及资源定位算法研究 [J]. 华东师范大学学报(自然科学版), 2008, 2008(1): 75-82.
[11]	陆静艳;朱守正 . 基于NLMS的AEDA声源估计优化算法[J]. 华东师范大学学报(自然科学版), 2007, 2007(5): 113-117.
[12]	刘永强;倪晓华;周丹;王鑫;郭伟伟. 人CREB4转核机制的初步研究[J]. 华东师范大学学报(自然科学版), 2007, 2007(2): 104-110.
[13]	李外云;胡文静;刘锦高. 基于Sistang的嵌入式Linux手持设备的GSM和GPS应用研究[J]. 华东师范大学学报(自然科学版), 2006, 2006(3): 120-125.