Visual Simultaneous Localisation and Mapping in Deformable Environments

变形环境中的视觉同步定位和建图

• 批准号: DP200100982
• 负责人: Prof Shoudong Huang
• 金额: $ 25.29万
• 依托单位: University of Technology Sydney
• 依托单位国家: 澳大利亚
• 项目类别: Discovery Projects
• 财政年份: 2020
• 资助国家: 澳大利亚
• 起止时间: 2020-01-01 至 2024-12-31
• 项目状态: 已结题
• 来源: https://dataportal.arc.gov.au/RGS/Web/Grants/DP200100982
• 关键词: Visual; Simultaneous; Localisation; Mapping; Deformable

This project aims to investigate the problem of building a three-dimensional map of a deformable environment in real-time using images and at the same time localising the camera within the map. This project expects to generate new knowledge in the area of simultaneous localisation and mapping in deformable environments using visual sensors. Expected outcomes include in-depth understanding of the fundamental sensing requirements for the problem to be solvable, the achievable accuracy, and efficient algorithms for achieving accurate three-dimensional reconstruction of deformable environments. The research outcomes from this project offer significant benefits to diverse areas such as minimally invasive robotic surgery.

该项目旨在研究使用图像实时构建可变形环境的三维地图，同时在地图内定位相机的问题。该项目预计将产生新的知识，在变形环境中使用视觉传感器的同时定位和映射的区域。预期的成果包括深入了解的基本传感要求的问题是可解决的，可实现的精度，以及有效的算法，实现准确的三维重建的变形环境。该项目的研究成果为微创机器人手术等不同领域提供了显着的好处。