Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Real-time Simultaneous Localization and Mapping (SLAM) for Vision-based Autonomous Navigation

영상기반 자동항법을 위한 실시간 위치인식 및 지도작성

  • Lim, Hyon (Dept. of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Lim, Jongwoo (Division of Computer Science and Engineering, Hanyang Univ.) ;
  • Kim, H. Jin (Dept. of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.)
  • 임현 (서울대학교 우주항공공학과) ;
  • 임종우 (한양대학교 컴퓨터공학과) ;
  • 김현진 (서울대학교 우주항공공학과)
  • Received : 2014.07.03
  • Accepted : 2015.03.12
  • Published : 2015.05.01
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Abstract

In this paper, we propose monocular visual simultaneous localization and mapping (SLAM) in the large-scale environment. The proposed method continuously computes the current 6-DoF camera pose and 3D landmarks position from video input. The proposed method successfully builds consistent maps from challenging outdoor sequences using a monocular camera as the only sensor. By using a binary descriptor and metric-topological mapping, the system demonstrates real-time performance on a large-scale outdoor dataset without utilizing GPUs or reducing input image size. The effectiveness of the proposed method is demonstrated on various challenging video sequences.

본 논문에서는 넓은 지역에서의 영상기반 자동 항법을 위한 실시간 위치인식 및 지도작성 방법을 제안한다. 한 대의 카메라에서 입력된 영상으로부터 제안된 방법은 6 자유도 카메라 자세와 3 차원 특징점 위치를 연속적으로 계산한다. 제안된 방법은 넓은 지역을 주행하며 촬영된 영상에 적용하여 그 위치와 환경지도를 성공적으로 작성하였이다. 본 논문에서는 이진기술자(binary descriptor)와 수치-위상(metric-topological)지도 표현법을 사용하여 GPU 나 영상의 축소 없이 실시간 성능과 광범위한 지역에서의 회귀점 검출(loop detection)을 하였다. 제안된 방법은 여러 환경에서 촬영된 영상과, 해당 영상의 GPS 기준값과 비교하여 평가하였다.

Keywords

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