A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of...A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile robot.Firstly,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random probability.After that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT algorithm.The algorithm simulation platform based on the Gazebo platform was built.The simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more efficiently.Finally,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different obstacles.The experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.展开更多
A line-feature based SLAM algorithm is presented in this paper to resolve the conflict between the requirements of computational complexity and information-richness within the point-feature based SLAM algorithm, All o...A line-feature based SLAM algorithm is presented in this paper to resolve the conflict between the requirements of computational complexity and information-richness within the point-feature based SLAM algorithm, All operations required for building and maintaining the map, such as model-setting, data association, and state-updating, are described and formulated. This approach has been programmed and successfully tested in the simulation work, and results are shown at the end of this paper.展开更多
FastSLAM is a popular framework which uses a Rao-Blackwellized particle filter to solve the simultaneous localization and mapping problem（SLAM）. However, in this framework there are two important potential limitatio...FastSLAM is a popular framework which uses a Rao-Blackwellized particle filter to solve the simultaneous localization and mapping problem（SLAM）. However, in this framework there are two important potential limitations, the particle depletion problem and the linear approximations of the nonlinear functions. To overcome these two drawbacks, this paper proposes a new FastSLAM algorithm based on revised genetic resampling and square root unscented particle filter（SR-UPF）. Double roulette wheels as the selection operator, and fast Metropolis-Hastings（MH） as the mutation operator and traditional crossover are combined to form a new resampling method. Amending the particle degeneracy and keeping the particle diversity are both taken into considerations in this method. As SR-UPF propagates the sigma points through the true nonlinearity, it decreases the linearization errors. By directly transferring the square root of the state covariance matrix, SR-UPF has better numerical stability. Both simulation and experimental results demonstrate that the proposed algorithm can improve the diversity of particles, and perform well on estimation accuracy and consistency.展开更多
传统的温室作业方式依赖于人工操作,工作效率低且难以保证作业的质量和稳定性。温室自主导航系统可以实现温室内自动化导航和作业,提高温室作物的生产效率和品质。因此,设计一种定位与地图构建(Simultaneous Localization And Mapping, ...传统的温室作业方式依赖于人工操作,工作效率低且难以保证作业的质量和稳定性。温室自主导航系统可以实现温室内自动化导航和作业,提高温室作物的生产效率和品质。因此,设计一种定位与地图构建(Simultaneous Localization And Mapping, SLAM)技术下的温室自主导航系统,可利用激光雷达等传感器实时构建温室内的地图,并利用SLAM算法实现自主定位与导航。为了提高系统的鲁棒性和性能,提出了一种基于改进粒子滤波算法的姿态估计方法。试验结果表明:该温室自主导航系统能够高效准确地实现温室内的自主导航任务,为农业生产提供了一种新的自动化解决方案。展开更多
针对基于静态场景特征进行相机位姿估计的即时定位与地图构建(SLAM:Simultaneous Localization and Mapping)技术,在其前端的特征计算和匹配的过程中易受到动态物体干扰的问题,提出了实例分割结合多视几何约束的方法,以改进视觉SLAM的...针对基于静态场景特征进行相机位姿估计的即时定位与地图构建(SLAM:Simultaneous Localization and Mapping)技术,在其前端的特征计算和匹配的过程中易受到动态物体干扰的问题,提出了实例分割结合多视几何约束的方法,以改进视觉SLAM的前端特征处理,剔除动态信息的干扰。在ORB-SLAM3(Oriented FAST and Rotated BRIEF-Simultaneous Localization and Mapping3)框架的前端,并行YOLACT++(You Only Look At CoefficienTs++)实例分割线程,将分割后的结果使用多视几何约束的方法补充检验特征点动态一致性;运用EfficientNetV2网络替换YOLACT++原来的主干网络,并使用TensorRT量化实例分割模型,以减轻算法的前端计算压力。经TUM(Technical University of Munich)数据集测试结果表明,该算法在高动态环境下的定位精度较ORB-SLAM3算法平均提升了80.6%。展开更多
针对3种典型的基于深度相机的同步定位与地图构建(SLAM)算法,包括RGB-D SLAM V2,RTAB-Map和DVO SLAM,介绍这3种SLAM算法的理论特点。采用两个公开的SLAM数据集,包括TUM数据集和ICL-NUIM数据集,进行SLAM算法的评测,评测指标包括SLAM算法...针对3种典型的基于深度相机的同步定位与地图构建(SLAM)算法,包括RGB-D SLAM V2,RTAB-Map和DVO SLAM,介绍这3种SLAM算法的理论特点。采用两个公开的SLAM数据集,包括TUM数据集和ICL-NUIM数据集,进行SLAM算法的评测,评测指标包括SLAM算法的精确度、运行性能以及鲁棒性。评测的实验结果表明,在选择基于深度相机的SLAM算法时:如果考虑精确度和鲁棒性优先于运行性能,则选择RGB-D SLAM V2;如果考虑运行性能和鲁棒性优先于精确度,则选择DVO SLAM;如果考虑精确度和运行性能优先于鲁棒性,则选择RTAB-Map。展开更多
为解决移动机器人扩展卡尔曼滤波(EKF-SLAM)算法计算复杂、精确度不高及易受干扰的缺点,提出一种基于最优平滑滤波理论的改进同步定位与地图构建(simultaneous localization and mapping,SLAM)算法。详细介绍算法的改进过程,通过Matlab...为解决移动机器人扩展卡尔曼滤波(EKF-SLAM)算法计算复杂、精确度不高及易受干扰的缺点,提出一种基于最优平滑滤波理论的改进同步定位与地图构建(simultaneous localization and mapping,SLAM)算法。详细介绍算法的改进过程,通过Matlab软件对其位置轨迹跟踪误差及标准差进行仿真分析,基于机器人操作系统(robot operating system,ROS)系统的实验平台,在室内走廊进行SLAM实验以测试改进算法的效果。结果表明,改进的SLAM算法精度高、抗干扰能力强,能实现移动机器人的即时定位与地图构建。基于ROS系统的软件平台能简化开发难度,提升移动机器人的智能化。展开更多
基于特征的视觉同时定位与地图构建(Simultaneous Localization and Mapping,SLAM)存在实时性和鲁棒性差等问题,提出一种改进的基于四叉树的ORB特征提取方法,设计包含前后端及地图构建的机器人RGB-D SLAM算法。在前端使用四叉树方法完成...基于特征的视觉同时定位与地图构建(Simultaneous Localization and Mapping,SLAM)存在实时性和鲁棒性差等问题,提出一种改进的基于四叉树的ORB特征提取方法,设计包含前后端及地图构建的机器人RGB-D SLAM算法。在前端使用四叉树方法完成ORB特征的均匀提取,计算描述子间汉明距离实现特征匹配。根据随机采样一致性算法思想,结合EPNP(Efficient Perspective-N-Point)和迭代最近点法求解位姿,获取多次迭代后的准确位姿。采用关键帧进行回环检测,并且基于光速法平差优化位姿图,从而构建全局一致的3D地图,达到减少累积误差的目的。通过TUM数据集和多履带式全向移动机器人进行对比验证,实验结果满足实时性和稳定性要求,证明了算法的可行性和有效性。展开更多
基金This research was funded by National Natural Science Foundation of China(No.62063006)Guangxi Science and Technology Major Program(No.2022AA05002)+2 种基金Key Laboratory of AI and Information Processing(Hechi University),Education Department of Guangxi Zhuang Autonomous Region(No.2022GXZDSY003)Guangxi Key Laboratory of Spatial Information and Geomatics(Guilin University of Technology)(No.21-238-21-16)Innovation Project of Guangxi Graduate Education(No.YCSW2023352).
文摘A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile robot.Firstly,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random probability.After that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT algorithm.The algorithm simulation platform based on the Gazebo platform was built.The simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more efficiently.Finally,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different obstacles.The experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.
基金Supported by National Natural Science Foundation of P. R. China (60475031)
文摘A line-feature based SLAM algorithm is presented in this paper to resolve the conflict between the requirements of computational complexity and information-richness within the point-feature based SLAM algorithm, All operations required for building and maintaining the map, such as model-setting, data association, and state-updating, are described and formulated. This approach has been programmed and successfully tested in the simulation work, and results are shown at the end of this paper.
基金supported by National Natural Science Foundation of China(No.61101197)Research Fund for the Doctoral Program of Higher Education of China(No.20093219120025)
文摘FastSLAM is a popular framework which uses a Rao-Blackwellized particle filter to solve the simultaneous localization and mapping problem（SLAM）. However, in this framework there are two important potential limitations, the particle depletion problem and the linear approximations of the nonlinear functions. To overcome these two drawbacks, this paper proposes a new FastSLAM algorithm based on revised genetic resampling and square root unscented particle filter（SR-UPF）. Double roulette wheels as the selection operator, and fast Metropolis-Hastings（MH） as the mutation operator and traditional crossover are combined to form a new resampling method. Amending the particle degeneracy and keeping the particle diversity are both taken into considerations in this method. As SR-UPF propagates the sigma points through the true nonlinearity, it decreases the linearization errors. By directly transferring the square root of the state covariance matrix, SR-UPF has better numerical stability. Both simulation and experimental results demonstrate that the proposed algorithm can improve the diversity of particles, and perform well on estimation accuracy and consistency.
文摘传统的温室作业方式依赖于人工操作,工作效率低且难以保证作业的质量和稳定性。温室自主导航系统可以实现温室内自动化导航和作业,提高温室作物的生产效率和品质。因此,设计一种定位与地图构建(Simultaneous Localization And Mapping, SLAM)技术下的温室自主导航系统,可利用激光雷达等传感器实时构建温室内的地图,并利用SLAM算法实现自主定位与导航。为了提高系统的鲁棒性和性能,提出了一种基于改进粒子滤波算法的姿态估计方法。试验结果表明:该温室自主导航系统能够高效准确地实现温室内的自主导航任务,为农业生产提供了一种新的自动化解决方案。
文摘针对基于静态场景特征进行相机位姿估计的即时定位与地图构建(SLAM:Simultaneous Localization and Mapping)技术,在其前端的特征计算和匹配的过程中易受到动态物体干扰的问题,提出了实例分割结合多视几何约束的方法,以改进视觉SLAM的前端特征处理,剔除动态信息的干扰。在ORB-SLAM3(Oriented FAST and Rotated BRIEF-Simultaneous Localization and Mapping3)框架的前端,并行YOLACT++(You Only Look At CoefficienTs++)实例分割线程,将分割后的结果使用多视几何约束的方法补充检验特征点动态一致性;运用EfficientNetV2网络替换YOLACT++原来的主干网络,并使用TensorRT量化实例分割模型,以减轻算法的前端计算压力。经TUM(Technical University of Munich)数据集测试结果表明,该算法在高动态环境下的定位精度较ORB-SLAM3算法平均提升了80.6%。
文摘针对3种典型的基于深度相机的同步定位与地图构建(SLAM)算法,包括RGB-D SLAM V2,RTAB-Map和DVO SLAM,介绍这3种SLAM算法的理论特点。采用两个公开的SLAM数据集,包括TUM数据集和ICL-NUIM数据集,进行SLAM算法的评测,评测指标包括SLAM算法的精确度、运行性能以及鲁棒性。评测的实验结果表明,在选择基于深度相机的SLAM算法时:如果考虑精确度和鲁棒性优先于运行性能,则选择RGB-D SLAM V2;如果考虑运行性能和鲁棒性优先于精确度,则选择DVO SLAM;如果考虑精确度和运行性能优先于鲁棒性,则选择RTAB-Map。
