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チョウ ゼンシュン
Zhang Shanjun 張 善俊 所属 神奈川大学 情報学部 計算機科学科 神奈川大学大学院 理学研究科 理学専攻（情報科学領域） 職種 教授 |
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| 言語種別 | 日本語 |
| 発行・発表の年月 | 2022/01 |
| 形態種別 | 学術雑誌 |
| 査読 | 査読あり |
| 標題 | SLAM Back-End Optimization Algorithm Based on Vision Fusion IPS |
| 執筆形態 | 共著 |
| 掲載誌名 | Sensors |
| 掲載区分 | 国外 |
| 出版社・発行元 | MDPI |
| 巻・号・頁 | 2022(22),9362-9377頁 |
| 著者・共著者 | Yu Xia, Jingdi Cheng, Xuhang Cai, Shanjun Zhang, Junwu Zhu and Liucun
Zhu |
| 概要 | SLAM (Simultaneous Localization and Mapping) is mainly composed of five parts: sensor
data reading, front-end visual odometry, back-end optimization, loopback detection, and map building. And when visual SLAM is estimated by visual odometry only, cumulative drift will inevitably occur. We conducted experiments on the AUTOLABOR mobile robot, and the experimental results show that the localization accuracy of the SLAM back-end optimization algorithm with fused IPS can be maintained between 0.02 m and 0.03 m, which meets the requirements of indoor localization, and there is no cumulative drift problem when there is no loopback detection, which solves the problem of cumulative drift of the visual SLAM system to some extent. |
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