封面标题使用RGBD视觉SLAM算法及其实现

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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...