Supervisor:
Southwest Ordnance Industry Bureau
Organizer:
Chongqing Ordnance Industry Society
Chongqing University of Technology
Chongqing University of Technology
Synuschronolocalization and mapping algorithm based on improved VINS
| DOI: | 10.11809/bqzbgcxb2024.07.038 |
| Keywords: | vision slam; vins mono; orb feature points; imu initialization |
| Abstract: | Aiming at the problems that monocular visual SLAM is susceptible to illumination, environment, texture and the uncertainty of the scale of monocular camera, an improved SLAM algorithm based on visual inertial SLAM algorithm framework, VINS Mono, was proposed. The algorithm in this paper is improved in the initialization part of IMU, which can accurately calculate the deviation of gyroscope and accelerometer in a shorter time. Moreover, ORB feature points are introduced into the visual otometer to replace the optical flow method, so that it can also accurately extract feature points to track camera movements in a variety of complex environments. Experiments and analyses of different sequences in real scenes and Euroc data sets show that set show that the proposed algorithm has improved robustness and accuracy of positioning with the VMs Mono algorithm. The root mean square error (RMSE) was reduced by an average of 17.6%. |
| Published: | 2024-07-26 |