ShanghaiTech University Knowledge Management System
B-splines for Purely Vision-based Localization and Mapping on Non-holonomic Ground Vehicles | |
2021 | |
会议录名称 | IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION |
ISSN | 1050-4729 |
页码 | 5374-5380 |
发表状态 | 已发表 |
DOI | 10.1109/ICRA48506.2021.9561131 |
摘要 | Purely vision-based localization and mapping is a cost-effective and thus attractive solution to localization and mapping on smart ground vehicles. However, the accuracy and especially robustness of vision-only solutions remain rivalled by more expensive, lidar-based multi-sensor alternatives. We show that a significant increase in robustness can be achieved if taking non-holonomic kinematic constraints on the vehicle motion into account. Rather than using approximate planar motion models or simple, pair-wise regularization terms, we demonstrate the use of B-splines for an exact imposition of smooth, nonholonomic trajectories inside the 6 DoF bundle adjustment. We introduce both hard and soft formulations and compare their computational efficiency and accuracy against traditional solutions. Through results on both simulated and real data, we demonstrate a significant improvement in robustness and accuracy in degrading visual conditions. |
会议录编者/会议主办者 | ICRA |
会议名称 | IEEE International Conference on Robotics and Automation (ICRA) |
出版地 | 345 E 47TH ST, NEW YORK, NY 10017 USA |
会议地点 | Xian,PEOPLES R CHINA |
会议日期 | MAY 30-JUN 05, 2021 |
URL | 查看原文 |
收录类别 | SCI ; CPCI ; EI ; CPCI-S |
语种 | 英语 |
资助项目 | Natural Science Foundation of Shanghai[19ZR1434000] |
WOS研究方向 | Automation & Control Systems ; Robotics |
WOS类目 | Automation & Control Systems ; Robotics |
WOS记录号 | WOS:000765738804020 |
出版者 | IEEE |
EI入藏号 | 20220911738389 |
EISSN | 2577-087X |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/126751 |
专题 | 信息科学与技术学院_博士生 信息科学与技术学院_PI研究组_Laurent Kneip组 |
通讯作者 | Huang, Kun |
作者单位 | 1.ShanghaiTech Univ, Shanghai, Peoples R China 2.Shanghai Engn Res Ctr Intelligent Vis & Imaging, Shanghai, Peoples R China 3.Australian Natl Univ, Canberra, ACT, Australia |
第一作者单位 | 上海科技大学 |
通讯作者单位 | 上海科技大学 |
第一作者的第一单位 | 上海科技大学 |
推荐引用方式 GB/T 7714 | Huang, Kun,Wang, Yifu,Kneip, Laurent. B-splines for Purely Vision-based Localization and Mapping on Non-holonomic Ground Vehicles[C]//ICRA. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:5374-5380. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 |
修改评论
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。