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ID:37046934
大小:3.50 MB
页数:55页
时间:2019-05-15
《封面标题使用RGBD视觉SLAM算法及其实现》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、硕士留学生学位论文RGB-DbasedVisualSLAMAlgorithmanditsImplementationExtraction作者姓名MANIRAGUHATHEONESTE学科专业电气与计算机工程指导教师Dr.LiuFuchun所在学院自动化科学与工程学院论文提交日期2018年06月05日RGB-DBASEDVISUALSLAMALGORITHMANDITSIMPLEMENTATION封面标题使用RGBD视觉SLAM算法及其实现ADissertationSubmittedfortheDegreeofMasterCandidate:ManiraguhaThéonesteSupe
2、rvisor:Dr.LiuFuchunSouthChinaUniversityofTechnologyGuangzhou,China分类号:学校代号:10561学号:201622856319华南理工大学硕士学位论文RGBD视觉SLAM算法及其实现作者姓名:MANIRAGUHATHEONESTE指导教师姓名、职称:LIUFUCHUN(刘富春)申请学位级别:硕士学科专业名称:电气与计算机工程研究方向:Navigationandcontrolofautonomoussystems论文提交日期:2018年5月20日论文答辩日期:2018年06月05日学位授予单位:华南理工大学学位授予日期:年月
3、日答辩委员会成员:主席:康文雄委员:杜娟冯颖刘富春余天佑AbstractThekeytoachieveautonomouscontrolofrobot,andalsoanimportanttopicinmobileroboticsfieldisSimultaneouslocalizationandmapping(SLAM).Amobilerobothasonebigtaskwhichistoassignitselfandbuildingamapofitsparticularenvironmentatthesametime.Especially,aSLAMprocessinwhichth
4、esensorsarecamerasiscalledVisualSimultaneousLocalizationandMapping(vSLAM),theinputsofthesystemsarevisualinformation.AvisualSLAMalgorithmswhichhasasinputaregularcolor(RGB)imageanditsdepthobtainedbyusingofalow-costRGB-DsensorsuchasMicrosoftKinectareintroducedinthisthesis.TheaimofRGB-DbasedVisualSL
5、AMistobuilda3Dmapoftheenvironmentatthesametimekeeptrackingofthecamerapose.TheaimofthisworkistoimplementtheRGB-DbasedVisualSLAMalgorithms.Thefollowedsystemiscomposedbythefrontendandthebackend.TheobjectiveofthefrontendistoprocessRGB-Ddata,inthispartweusethealgorithmsforfeaturesdetectionanddescript
6、orsextraction,thedescriptorsresultsareusedtoimplementthefeaturesmatching.Afterthat,weestimatethemotiontransformationandoptimizefrommatchingresults.Finally,thevisualSLAMisimplementedinthebackendofthesystem,theposegraphoptimizationmethodisused,toobtainCameraposeand3Dmapenvironmentreconstruction.Ke
7、ywords:VisualSLAM;Robotics;KinectSensor;RGB-DSLAMITableofcontentsAbstract......................................................................................................................................IListoffigures...
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