Acta Geodaetica et Cartographica Sinica ›› 2018, Vol. 47 ›› Issue (6): 770-779.doi: 10.11947/j.AGCS.2018.20170652
Previous Articles Next Articles
DI Kaichang1, WAN Wenhui1, ZHAO Hongying2, LIU Zhaoqin1, WANG Runzhi1, ZHANG Feizhou2
Received:2017-11-20
Revised:2018-03-28
Online:2018-06-20
Published:2018-06-21
Supported by:CLC Number:
DI Kaichang, WAN Wenhui, ZHAO Hongying, LIU Zhaoqin, WANG Runzhi, ZHANG Feizhou. Progress and Applications of Visual SLAM[J]. Acta Geodaetica et Cartographica Sinica, 2018, 47(6): 770-779.
| [1] 卢韶芳,刘大维.自主式移动机器人导航研究现状及其相关技术[J].农业机械学报,2002,33(2):112-116. LU Shaofang,LIU Dawei.A Survey of Research Situation on Navigation by Autonomous Mobile Robot and Its Related Techniques[J].Transactions of the Chinese Society for Agricultural Machinery,2002,33(2):112-116. [2] ALBRECHT S.An Analysis of Visual Mono-SLAM[D].Canada:Universität Osnabrück,2009:1-4. [3] FUENTES-PACHECO J,RUIZ-ASCENCIO J,RENDÓN-MANCHA J M.Visual Simultaneous Localization and Mapping:A Survey[J].Artificial Intelligence Review,2015,43(1):55-81. [4] IDO J,SHIMIZU Y,MATSUMOTO Y,et al.Indoor Navigation for a Humanoid Robot Using a View Sequence[J].The International Journal of Robotics Research,2009,28(2):315-325. [5] ÇELIK K,SOMANI A K.Monocular Vision SLAM for Indoor Aerial Vehicles[J].Journal of Electrical and Computer Engineering,2013,2013:374165. [6] COMPORT A I,MARCHAND E,PRESSIGOUT M.Real-time Markerless Tracking for Augmented Reality:The Virtual Visual Servoing Framework[J].IEEE Transactions on Visualization and Computer Graphics,2006,12(4):615-628. [7] CHEKHLOV D,GEE A P,CALWAY a,et al.Ninja on a Plane:Automatic Discovery of Physical Planes for Augmented Reality Using Visual SLAM[C]//Proceedings of the 6th IEEE and ACM International Symposium on Mixed and Augmented Reality.Nara,Japan:IEEE,2007:13-16. [8] CADENA C,CARLONE L,CARRILLO H,et al.Past,Present,and Future of Simultaneous Localization and Mapping:Toward the Robust-perception Age[J].IEEE Transactions on Robotics,2016,32(6):1309-1332. [9] 高翔,张涛,刘毅,等.视觉SLAM十四讲——从理论到实践[M].北京:电子工业出版社,2017:17-22. GAO Xiang,ZHANG Tao,LIU Yi,et al.Visual SLAM Fourteen Lectures-From Theory to Practice[M].Bejing:China Machine Press,2017:17-22. [10] KARLSSON N,DI BERNARDO E,OSTROWSKI J,et al.The vSLAM Algorithm for Robust Localization and Mapping[C]//Proceedings of 2005 IEEE International Conference on Robotics and Automation.Barcelona,Spain:IEEE,2005. [11] SVNDERHAUF N,PROTZEL P.Towards A Robust Back-end for Pose Graph SLAM[C]//Proceedings of 2012 IEEE International Conference on Robotics and Automation.Saint Paul,MN:IEEE,2012. [12] HU G,KHOSOUSSI K,HUANG Shoudong.Towards a Reliable SLAM Back-end[C]//Proceedings of 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.Tokyo,Japan:IEEE,2013. [13] NEWMAN P,HO K.SLAM-loop Closing with Visually Salient Features[C]//Proceedings of 2005 IEEE International Conference on Robotics and Automation.Barcelona,Spain:IEEE,2005. [14] HO K L,NEWMAN P.Loop Closure Detection in SLAM by Combining Visual and Spatial Appearance[J].Robotics and Autonomous Systems,2006,54(9):740-749. [15] HARRIS C,STEPHENS M.A Combined Corner and Edge Detector[C]//Proceedings of the 4th Alvey Vision Conference.Manchester,UK:Alvety Vision Club,1988. [16] FÖRSTNER W,GVLCH E.A Fast Operator for Detection and Precise Location of Distinct Points,Corners and Centers of Circular Features[C]//Proceedings of the ISPRS Intercommission Conference on Fast Processing of Photogrammetric Data.Interlaken,Switzerland:ISPRS,1987. [17] OLSON C F,MATTHIES L H,SCHOPPERS M,et al.Rover Navigation using Stereo Ego-motion[J].Robotics and Autonomous Systems,2003,43(4):215-229. [18] NISTÉR D,NARODITSKY O,BERGEN J.Visual Odometry for Ground Vehicle Applications[J].Journal of Field Robotics,2006,23(1):3-20. [19] KIM J,KWEON I S.Robust Feature Matching for Loop Closing and Localization[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems.San Diego,CA:IEEE,2007. [20] AGRAWAL M,KONOLIGE K.Real-time Localization in Outdoor Environments using Stereo Vision and Inexpensive GPS[C]//Proceedings of the 18th International Conference on Pattern Recognition.Hong Kong,China:IEEE,2006. [21] SHI Jianbo,TOMASI C.Good Features to Track[C]//Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.Seattle,WA:IEEE,1994. [22] HERATH D C,KODAGODA S,DISSANAYAKE G.Simultaneous Localisation and Mapping:A Stereo Vision Based Approach[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems.Beijing,China:IEEE,2006. [23] LOWE D G.Object Recognition from Local Scale-Invariant Features[C]//Proceedings of the 7th IEEE International Conference on Computer Vision.Kerkyra,Greece:IEEE,1999.1150-1157. [24] LOWE D G.Distinctive Image Features from Scale-invariant Keypoints[J].International Journal of Computer Vision,2004,60(2):91-110. [25] MOREL J M,YU Guoshen.Is SIFT Scale Invariant?[J].Inverse Problems and Imaging,2011,5(1):1-22. [26] BAY H,TUYTELAARS T,GOOL V L.SURF:Speeded Up Robust Features[C]//Proceedings of the 9th European Conference on Compute Vision.Graz,Austria:Springer,2006:404-417. [27] BAY H,ESS A,TUYTELAARS T,et al.Speeded-Up Robust Features (SURF)[J].Computer Vision and Image Understanding,2008,110(3):346-359. [28] AGRAWAL M,KONOLIGE K,BLAS M R.CenSurE:Center Surround Extremas for Realtime Feature Detection and Matching[C]//Proceedings of European Conference on Computer Vision.Marseille,France:INRIA Grenoble,2008:102-115. [29] LEUTENEGGER S,CHLI M,SIEGWART R Y.BRISK:Binary Robust Invariant Scalable Keypoints[C]//Proceedings of IEEE International Conference on Computer Vision.Barcelona,Spain:IEEE,2011. [30] RUBLEE E,RABAUD V,KONOLIGE K,et al.ORB:An Efficient Alternative to SIFT or SURF[C]//Proceedings of IEEE International Conference on Computer Vision.Barcelona,Spain:IEEE,2011. [31] MUR-ARTAL R,MONTIEL J M M,TARDÓS J D.ORB-SLAM:A Versatile and Accurate Monocular SLAM System[J].IEEE Transactions on Robotics,2015,31(5):1147-1163. [32] GIL A,MOZOS O M,BALLESTA M,et al.A Comparative Evaluation of Interest Point Detectors and Local Descriptors for Visual SLAM[J].Machine Vision and Applications,2010,21(6):905-920. [33] HARTMANN J,KLUSSENDORFF J H,MAEHLE E.A Comparison of Feature Descriptors for Visual SLAM[C]//Proceedings of 2013 European Conference on Mobile Robots.Barcelona,Spain:IEEE,2013. [34] GAUGLITZ S,HÖLLERER T,TURK M.Evaluation of Interest Point Detectors and Feature Descriptors for Visual Tracking[J].International Journal of Computer Vision,2011,94(3):335-360. [35] MIKSIK O,MIKOLAJCZYK K.Evaluation of Local Detectors and Descriptors for Fast Feature Matching[C]//Proceedings of the 21st International Conference on Pattern Recognition.Tsukuba,Japan:IEEE,2012. [36] SMITH R C,CHEESEMAN P.On the Representation of Spatial Uncertainty[J].International Journal of Robotics Research,1986,5(4):56-68. [37] SMITH R,SELF M,CHEESEMAN P.Estimating Uncertain Spatial Relationships in Robotics[M]//COX I J,WILFONG G T.Autonomous Robot Vehicles.New York:Springer,1990:167-198. [38] THRUN S,BURGARD W,FOX D.Probabilistic Robotics[M].Massachusetts:MIT Press,2005:1-5. [39] AULINAS J,PETILLOT Y R,SALVI J,et al.The SLAM Problem:A Survey[C]//Proceedings of the 2008 conference on Artificial Intelligence Research and Development:Proceedings of the 11th International Conference of the Catalan Association for Artificial Intelligence.Amsterdam,The Netherlands:IOS Press,2008. [40] KALMAN R E.A New Approach to Linear Filtering and Prediction Problems[J].Journal of Basic Engineering,1960,82(1):35-45.DOI:10.1115/1.3662552. [41] CHATILA R,LAUMOND J.Position Referencing and Consistent World Modeling for Mobile Robots[C]//Proceedings of IEEE International Conference on Robotics and Automation.St.Louis,MO:IEEE,1985. [42] CROWLEY J L.World Modeling and Position Estimation for A Mobile Robot using Ultrasonic Ranging[C]//Proceedings of IEEE International Conference on Robotics and Automation.Scottsdale,AZ:IEEE,1989. [43] KALMAN R E,BUCY R S.New Results in Linear Filtering and Prediction Theory[J].Journal of Basic Engineering,1961,83(1):95-108. [44] DURRANT-WHYTE H,BAILEY T.Simultaneous Localization and Mapping:Part I[J].IEEE Robotics & Automation Magazine,2006,13(2):99-110. [45] THRUN S,BURGARD W,FOX D.A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots[J].Machine Learning,1998,31(1-3):29-53. [46] WAN E A,VAN DER MERWE R.The Unscented Kalman Filter for Nonlinear Estimation[C]//Proceedings of IEEE Adaptive Systems for Signal Processing,Communications,and Control Symposium 2000,Lake Louise,Alberta,Canada:IEEE,2000. [47] ARASARATNAM I,HAYKIN S.Cubature Kalman Filters[J].IEEE Transactions on Automatic Control,2009,54(6):1254-1269. [48] ITO K,XIONG K.Gaussian Filters for Nonlinear Filtering Problems[J].IEEE Transactions on Automatic Control,2000,45(5):910-927. [49] DOUCET A,GODSILL S,ANDRIEU C.On Sequential Monte Carlo Sampling Methods for Bayesian Filtering[J].Statistics and Computing,2000,10(3):197-208. [50] MONTEMERLO M,THRUN S,KOLLER D,et al.FastSLAM:A Factored Solution to the Simultaneous Localization and Mapping Problem[C]//Proceedings of AAAI National Conference on Artificial Intelligence.Edmonton,Canada:AAAI,2002:593-598. [51] MONTEMERLO M,THRUN S,ROLLER D,et al.FastSLAM 2.0:An improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges[C]//Proceedings of the 18th International Joint Conference on Artificial Intelligence.Acapulco,Mexico:Morgan Kaufmann Publishers Inc.,2003:1151-1156. [52] LU F,MILIOS E.Globally Consistent Range Scan Alignment for Environment Mapping[J].Autonomous Robots,1997,4(4):333-349. [53] GUTMANN J S,KONOLIGE K.Incremental Mapping of Large Cyclic Environments[C]//Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation.Monterey,CA:IEEE,1999. [54] FRESE U,LARSSON P,DUCKETT T.A Multilevel Relaxation Algorithm for Simultaneous Localization and Mapping[J].IEEE Transactions on Robotics,2005,21(2):196-207. [55] OLSON E,LEONARD J,TELLER S.Fast Iterative Alignment of Pose Graphs with Poor Initial Estimates[C]//Proceedings of IEEE International Conference on Robotics and Automation.Orlando,FL:IEEE,2006. [56] 赵亮.MonoSLAM:参数化、光束法平差与子图融合模型理论[D].北京:北京大学,2012. ZHAO Liang.MonoSLAM:Theories of Parameterization,Bundle Adjustment and Subgraph Fusion[D].Beijing:Peking University,2012. [57] DELLAERT F,KAESS M.Square Root SAM:Simultaneous Localization and Mapping via Square Root Information Smoothing[J].International Journal of Robotics Research,2006,25(12):1181-1203. [58] KAESS M,RANGANATHAN A,DELLAERT F.iSAM:Fast Incremental Smoothing and Mapping with Efficient Data Association[C]//Proceedings of IEEE International Conference on Robotics and Automation.Roma,Italy:IEEE,2007. [59] KAESS M,JOHANNSSON H,ROBERTS R,et al.iSAM2:Incremental Smoothing and Mapping Using the Bayes Tree[J].International Journal of Robotics Research,2012,31(2):216-235. [60] BAILEY T,DURRANT-WHYTE H.Simultaneous Localization and Mapping:Part Ⅱ[J].IEEE Robotics & Automation Magazine,2006,13(3):108-117. [61] RUBNER Y,TOMASI C,GUIBAS L J.A Metric for Distributions with Applications to Image Databases[C]//Proceedings of IEEE International Conference on Computer Vision.Bombay,India:IEEE,1998. [62] BOSSE M,NEWMAN P,LEONARD S J J,et al.SLAM in Large-scale Cyclic Environments Using the Atlas Framework[J].International Journal of Robotics Research,2004,23:1113-1139. [63] EADE E,DRUMMOND T.Unified Loop Closing and Recovery for Real Time Monocular SLAM[C]//Proceedings of the British Conference on Machine Vision.Leeds:BMVA Press,2008. [64] ANGELI A,DONCIEUX S,MEYER J A,et al.Real-time Visual Loop-closure Detection[C]//Proceedings of IEEE International Conference on Robotics and Automation.Pasadena,CA:IEEE,2008.4300-4305. [65] SMITH P,REID I D,DAVISON A J.Real-time Monocular SLAM with Straight Lines[C]//Proceedings of British Conference on Machine Vision.Edinburgh,UK:BMVA Press,2006:17-26. [66] LEMAIRE T,LACROIX S.Monocular-vision based SLAM Using Line Segments[C]//Proceedings of IEEE Robotics and Automation.Roma,Italy:IEEE,2007. [67] SOLÀ J,VIDAL-CALLEJA T,DEVY M.Undelayed Initialization of Line Segments in Monocular SLAM[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems.St.Louis,MO:IEEE,2009. [68] PERDICES E,LÓPEZ L M,CAÑAS J M.LineSLAM:Visual Real Time Localization Using Lines and UKF[M]//ARMADA A,SANFELIU A,FERRE M.ROBOT2013:First Iberian Robotics Conference.Cham:Springer,2014. [69] ZHOU Huazhong,ZOU Danping,PEI Ling,et al.Struct SLAM:Visual SLAM With Building Structure Lines[J].IEEE Transactions on Vehicular Technology,2015,64(4):1364-1375. [70] PUMAROLA A,VAKHITOV A,AGUDO A,et al.PL-SLAM:Real-time Monocular Visual SLAM with Points and Lines[C]//Proceedings of IEEE International Conference on Robotics and Automation.Singapore:IEEE,2017. [71] 李海丰,胡遵河,陈新伟.PLP-SLAM:基于点、线、面特征融合的视觉SLAM方法[J].机器人,2017,39(2):214-220,229. LI Haifeng,HU Zunhe,CHEN Xinwei.PLP-SLAM:A Visual SLAM Method Based on Point-line-plane Feature Fusion[J].Robot,2017,39(2):214-220,229. [72] SILVERIA G,MALIS E,RIVES P.An Efficient Direct Approach to Visual SLAM[J].IEEE Transactions on Robotics,2008,24(5):969-979. [73] ENGEL J,KOLTUN V,CREMERS D.Direct Sparse Odometry[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2018,40(3):611-625. [74] FORSTER C,PIZZOLI M,SCARAMUZZA D.SVO:Fast Semi-direct Monocular Visual Odometry[C]//Proceedings of IEEE International Conference on Robotics and Automation.Hong Kong,China:IEEE,2014. [75] ENGEL J,SCHÖPS T,CREMERS D.LSD-SLAM:Large-scale Direct Monocular SLAM[C]//Proceedings of the 13th European Conference on Computer Vision.Zurich,Switzerland:Springer,2014:834-849. [76] CORKE P,LOBO J,DIAS J.An Introduction to Inertial and Visual Sensing[J].International Journal of Robotics Research,2007,26(6):519-535. [77] LI Mingyang,MOURIKIS A I.High-precision,Consistent EKF-based Visual-inertial Odometry[J].International Journal of Robotics Research,2013,33(6):690-711. [78] LEUTENEGGER S,LYNEN S,BOSSE M,et al.Keyframe-based Visual-inertial Odometry Using Nonlinear Optimization[J].International Journal of Robotics Research,2014,34(3):314-334. [79] MU Xufu,CHEN Jing,ZHOU Zixiang,et al.Accurate Initial State Estimation in a Monocular Visual-inertial SLAM System[J].Sensor,2018,18(2):506. [80] 万文辉.基于立体视觉的深空探测车自主定位理论与方法研究[D].北京:中国科学院研究生院,2012. WAN Wenhui.Theory and Methods of Stereo Vision Based Autonomous Rover Localization in Deep Space Exploration[D].Beijng:Graduate School of Chinese Academy of Sciences,2012. [81] 吴凯.集成激光测距仪的月面宇航员视觉导航[D].北京:中国科学院大学,2013. WU Kai.Monocular Vision Integrated with Laser Distance Meter for Astronaut Navigation on Lunar Surface[D].Beijng:University of Chinese Academy of Sciences,2013. [82] WU Kai,DI Kaichang,SUN Xun,et al.Enhanced Monocular Visual Odometry Integrated with Laser Distance Meter for Astronaut Navigation[J].Sensors,14(3):4981-5003. [83] ZHANG Xinzheng,RAD A B,WONG Y K.Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-based Simultaneous Localization and Mapping (SLAM) Tasks in Autonomous Mobile Robots[J].Sensors,2012,12(1):429-452. [84] 邸凯昌.登月宇航员导航定位需求分析及技术方案探讨[C]//中国工程院工程科技论坛(第107场):载人登月与深空探测论文集.北京,2010:213-218. DI Kaichang.Remand Analysis and Technical Proposal Discussion about Navigation for Lunar Astronauts[C]//Proceedings of Engineering Science and Technology Forum (107th) of Chinese Academy of Engineering:Manned Lunar Landing and Deep Space Exploration.Beijing:Chinese Accdemy of Engineering 2010:213-218. [85] KHOSHELHAM K,ELBERINK S O.Accuracy and Resolution of Kinect Depth Data for Indoor Mapping Applications[J].Sensors,2012,12(2):1437-1454. [86] STURM J,ENGELHARD N,ENDRES F,et al.A Benchmark for the Evaluation of RGB-D SLAM Systems[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems.Vilamoura,Portugal:IEEE,2012. [87] KERL C,STURM J,CREMERS D.Dense Visual SLAM for RGB-D Cameras[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems.Tokyo,Japan:IEEE,2013. [88] WHELAN T,KAESS M,JOHANNSSON H,et al.Real-time Large-scale Dense RGB-D SLAM with Volumetric Fusion[J].International Journal of Robotics Research,2015,34(4-5):598-626. [89] DI Kaichang,ZHAO Qiang,WAN Wenhui,et al.RGB-D SLAM based on Extended Bundle Adjustment with 2D and 3D Information[J].Sensors,2016,16(8):1285. [90] ZHU X X,TUIA D,MOU L C,et al.Deep Learning in Remote Sensing:A Comprehensive Review and List of Resources[J].IEEE Transactions on Geoscience and Remote Sensing,2017,5(4):8-36. [91] ZHANG Zixing,GEIGER J,POHJALAINEN J,et al.Deep Learning for Environmentally Robust Speech Recognition:An Overview of Recent Developments[J].ACM Transactions on Intelligent Systems and Technology,2018,9(5):Article No.49. [92] GARCIA-GARCIA A,ORTS-ESCOLANO S,OPERA S,et al.A Review on Deep Learning Techniques Applied to Semantic Segmentation[J].arXiv preprint arXiv:1704.06857,2017. [93] KONDA K,MEMISEVIC R.Learning Visual Odometry with a Convolutional Network[C]//Proceedings of the 10th International Conference on Computer Vision Theory and Applications.Berlin,Germany:SCITCC Press,2015:486-490. [94] DOSOVITSKIY A,FISCHER P,ILG E,et al.FlowNet:Learning Optical Flow with Convolutional Networks[C]//Proceedings of 2015 IEEE International Conference on Computer Vision.Santiago,Chile:IEEE,2015:2758-2766. [95] COSTANTE G,MANCINI M,VALIGI P,et al.Exploring Representation Learning with CNNs for Frame-to-frame Ego-motion Estimation[J].IEEE Robotics and Automation Letters,2016,1(1):18-25. [96] BAI Dongdong,WANG Chaoqun,ZHANG Bo,et al.Matching-range-constrained Real-time Loop Closure Detection with CNNs Features[J].Robotics and Biomimetics,2016,3:15. [97] ZHANG X W,SU Y,ZHU X H.Loop Closure Detection for Visual SLAM Systems Using Convolutional Neural Network[C]//Proceedings of IEEE International Conference on Automation and Computing.Huddersfield,UK:IEEE,2017. [98] GAO Xiang,ZHANG Tao.Unsupervised Learning to Detect Loops Using Deep Neural Networks for Visual SLAM System[J].Autonomous Robots,2017,41(1):1-18. [99] LI Rongxing,SQUYRES S W,ARVIDON R E,et al.Initial Results of Rover Localization and Topographic Mapping for the 2003 Mars Exploration Rover Mission[J].Photogrammetric Engineering & Remote Sensing,2005,71(10):1129-1142. [100] DI Kaichang,XU Fengliang,WANG Jue,et al.Photogrammetric Processing of Rover Imagery of the 2003 Mars Exploration Rover Mission[J].ISPRS Journal of Photogrammetry and Remote Sensing,2008,63(2):181-201 [101] MARTIN-MUR T J,KRUIZINGA G L,BUKHART P D,et al.Mars Science Laboratory Navigation Results[C]//Proceedings of International Symposium on Space Flight Dynamics.Washington D.C.:NASA,2012. [102] CHENG Yang,MAIMONE M W,MATTHIES L.Visual Odometry on the Mars Exploration Rovers-A Tool to Ensure Accurate Driving and Science Imaging[J].IEEE Robotics & Automation Magazine,2006,13(2):54-62. [103] 万文辉,刘召芹,刘一良,等.基于降落图像匹配的嫦娥三号着陆点位置评估[J].航天器工程,2014,23(4):5-12. WAN Wenhui,LIU Zhaoqin,LIU Yiliang,et al.Descent Image Matching based Position Evaluation for Chang'e-3 Landing Point[J].Spacecraft Engineering,2014,23(4):5-12. [104] 刘斌,徐斌,刘召芹,等.基于降落相机图像的嫦娥三号着陆轨迹恢复[J].遥感学报,2014,18(5):988-994. LIU Bin,XU Bin,LIU Zhaoqin,et al.Descending and Landing Trajectory Recovery of Chang'e-3 Lander using Descent Images[J].Journal of Remote Sensing,2014,18(5):988-994. [105] LIU Zhaoqin,DI Kaichang,PENG Man,et al.High Precision Landing Site Mapping and Rover Localization for Chang'e-3 Mission[J].Science China-Physics Mechanics & Astronomy,2015,58(1):1-11. [106] WAN W H,LIU Z Q,DI K C,et al.A Cross-Site Visual Localization Method for Yutu Rover[C]//Proceedings of ISPRS Technical Commission IV Symposium.Suzhou,China:ISPRS,2014. [107] HUANG Haosheng,GARTNER G.A Survey of Mobile Indoor Navigation Systems[M]//GARTNER G,ORTAG F.Cartography for Central and Eastern European.Berlin,Heidelberg:Springer,2009. [108] FALLAH N,APOSTOLOPOULOS I,BEKRIS K,et al.Indoor Human Navigation Systems:A Survey[J].Interacting with Computers,2013,25(1):21-33. [109] FROEHLICH M,AZHAR S,VANTURE M.An Investigation of Google Tango® Tablet for Low Cost 3D scanning[C]//Proceedings of 34th International Symposium on Automation and Robotics in Construction.Hawaii:ICACR,2017. [110] NGUYEN K A,LUO Zhiyuan.On Assessing the Positioning Accuracy of Google Tango in Challenging Indoor Environments[C]//Proceedings of International Conference on Indoor Positioning and Indoor Navigation.Sapporo,Japan:IEEE,2017. [111] WINTERHALTER W,FLECKENSTEIN F,STEDER B,et al.Accurate Indoor Localization for RGB-D Smartphones and Tablets Given 2D Floor Plans[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems.Hambury,Germany:IEEE,2015. [112] LEE J.Mobile AR in Your Pocket with Google Tango[J].Society for Information Display International Symposium Digest of Technical Papers,2017,48(1):17-18. [113] GARON M,BOULET P O,DOIRONZ J P,et al.Real-Time High Resolution 3D Data on the HoloLens[C]//Proceedings of IEEE International Symposium on Mixed and Augmented Reality.Merida,Mexico:IEEE,2016. [114] EVANS G,MILLER J,PENA M I,et al.Evaluating the Microsoft HoloLens through an Augmented Reality Assembly Application[C]//Proceedings of SPIE,Volume 10197,Degraded Environments:Sensing,Processing,and Display 2017.Anaheim,CA:SPIE,2017. [115] ZHOU Guyue,FANG Lu,TANG Ketan,et al.Guidance:A Visual Sensing Platform for Robotic Applications[C]//Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition.Boston,MA:IEEE,2015:9-14. [116] MEJIAS L,CORREA J F,MONDRAGON I,et al.COLIBRI:A Vision-Guided UAV for Surveillance and Visual Inspection[C]//Proceedings of IEEE International Conference on Robotics and Automation.Roma,Italy:IEEE,2015. [117] KRAJNÍK T,NITSCHE M,PEDRE S,et al.A Simple Visual Navigation System for an UAV[C]//Proceedings of 9th International Multi-Conference on Systems,Signals and Devices.Chemnitz,Germany:IEEE,2012. |
| [1] | LI Bofeng, QIN Yuanyang, CHEN Guang'e. BDS-3 cycle slip and data gap repair based on the geometry-free ionosphere-filter model [J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(4): 501-510. |
| [2] | JIN Fei, GUAN Kai, LIU Zhi, HAN Jiarong, RUI Jie, LI Qinggao. A performing analysis of unsupervised dense matching feature extraction networks [J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(3): 426-436. |
| [3] | ZHAO Leyang, YAN Li. Advanced quaternion unscented Kalman filter based on SLAM of mobile robot pose estimation [J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(2): 212-223. |
| [4] | JIN Kaidi, CHAI Hongzhou, SU Chuhan, XIANG Minzhi. Adaptive Kalman filter method with colored noise for fiber optic gyroscope random drift [J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(1): 80-86. |
| [5] | YANG Bisheng, HAN Xu, DONG Zhen. A deep learning network for semantic labeling of large-scale urban point clouds [J]. Acta Geodaetica et Cartographica Sinica, 2021, 50(8): 1059-1067. |
| [6] | LI Shuaixin, LI Jiuren, TIAN Bin, CHEN Long, WANG Li, LI Guangyun. A laser SLAM method for unmanned vehicles in point cloud degenerated tunnel environments [J]. Acta Geodaetica et Cartographica Sinica, 2021, 50(11): 1487-1499. |
| [7] | ZHUANG Hanyang, WANG Xiaoliang, WANG Chunxiang, YANG Ming. Vehicle tracking enhancement based on the lane orientation priori from digital maps [J]. Acta Geodaetica et Cartographica Sinica, 2021, 50(11): 1522-1533. |
| [8] | SUN Xiliang, GUAN Hongcan, SU Yanjun, XU Guangcai, GUO Qinghua. A tightly coupled SLAM method for precise urban mapping [J]. Acta Geodaetica et Cartographica Sinica, 2021, 50(11): 1585-1593. |
| [9] | XIE Xianming, SUN Yuzheng, LIANG Xiaoxing, ZENG Qingning, ZHENG Zhanheng. Recursive estimation method of cubature Kalman filtering local polynomial coefficients for phase unwrapping [J]. Acta Geodaetica et Cartographica Sinica, 2020, 49(8): 1023-1031. |
| [10] | LI Yongqiang, LI Pengpeng, DONG Yahan, FAN Huilong. Automatic extraction and classification of pole-like objects from vehicle LiDAR point cloud [J]. Acta Geodaetica et Cartographica Sinica, 2020, 49(6): 724-735. |
| [11] | WANG Chenjie, LUO Bin, LI Chengyuan, WANG Wei, YIN Lu, ZHAO Qing. The collaborative mapping and navigation based on visual SLAM in UAV platform [J]. Acta Geodaetica et Cartographica Sinica, 2020, 49(6): 767-776. |
| [12] | ZHANG Ruichen, BIAN Shaofeng, LIU Yanchun, LI Houpu. Widespread bathymetric outliers detection and elimination based on conditional variational autoencoder generative adversarial network [J]. Acta Geodaetica et Cartographica Sinica, 2019, 48(9): 1182-1189. |
| [13] | YU Anzhu, LIU Bing, XING Zhipeng, YANG Fan, YANG Qimiao. Salient feature extraction method for hyperspectral image classification [J]. Acta Geodaetica et Cartographica Sinica, 2019, 48(8): 985-995. |
| [14] | WANG Huabin, HAN Min, WANG Guanghui, LI Yu. Surface features extraction in remote sensing images based on architecture-variant CNN [J]. Acta Geodaetica et Cartographica Sinica, 2019, 48(5): 583-596. |
| [15] | CHEN Xiaoyong, HE Haiqing, ZHOU Junchao, AN Puyang, CHEN Ting. Progress and future of image matching in low-altitude photogrammetry [J]. Acta Geodaetica et Cartographica Sinica, 2019, 48(12): 1595-1603. |
| Viewed | ||||||
|
Full text |
|
|||||
|
Abstract |
|
|||||
