Estimating camera pose using Bundle Adjustment and Digital Terrain Model constraints
Estimating camera pose using Bundle Adjustment and Digital Terrain Model constraints
复制标题
使用捆绑调整和数字地形模型约束估计相机位姿
DOI：
10.1109/icra.2015.7139758
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
H. Rotstein
中科院分区：
文献类型：
--
作者：
Amir B. Geva;Gil Briskin;E. Rivlin;H. Rotstein
光束法平差是目前解决同时定位和地图绘制问题的最先进的方法。这个问题对于机器人的定位是重要的，并且对于不能依赖于地面测距的飞行机器人是最尖锐的。该解决方案需要额外的信息来解析比例，并且大多数实现要么假设存在相对准确的姿态信息，要么利用GPS和IMU传感器。本文提出了一种替代方法，将数字地形模型的约束到光束平差算法，使正确的分辨率的比例，即使在没有额外的信息。它示出，在多个测试场景中，该算法提供的估计，不随时间的推移而发散，超过，在精度上，底层采样地形的分辨率。
Bundle Adjustment is the current state of the art method for solving the simultaneous localization and mapping problem. This problem is important for the localization of robots, and most acute for flying robots that cannot rely on ground odometry. The solution requires additional information to resolve scale, and most implementations either assume that relatively accurate pose information exists, or utilize GPS and IMU sensors. This paper presents an alternative approach that incorporates Digital Terrain Model constraints into the Bundle Adjustment algorithm, enabling the correct resolution of scale even in the absence of additional information. It is shown, in multiple test scenarios, that this algorithm provides estimations that do not diverge with time and that exceed, in accuracy, the resolution of the underlying sampled terrain.