论文标题
同时定位和绘制二次表面
Simultaneous Localisation and Mapping with Quadric Surfaces
论文作者
论文摘要
如何在同时本地化和映射中表示地图有很多可能性（SLAM）。尽管稀疏，基于按键的大满贯系统达到了令人印象深刻的准确性和鲁棒性，但它们的地图可能不适合许多机器人任务。密集的大满贯系统能够产生密集的重建，但在计算上可能很昂贵，并且像稀疏的系统一样，缺乏有关场景结构的更高级别信息。人制造的环境包含很多结构，我们试图通过启用二次表面作为SLAM系统中的功能来利用这一点。我们介绍了四个方面的最小表示形式，并显示如何将其包含在最小二乘配方中。我们还展示了如何轻松地扩展我们的表示形式，以包括对四边形的其他限制，例如革命四边形中的限制。最后，我们使用我们的表示介绍了概念验证SLAM系统，并使用RGB-D数据集提供了一些实验结果。
There are many possibilities for how to represent the map in simultaneous localisation and mapping (SLAM). While sparse, keypoint-based SLAM systems have achieved impressive levels of accuracy and robustness, their maps may not be suitable for many robotic tasks. Dense SLAM systems are capable of producing dense reconstructions, but can be computationally expensive and, like sparse systems, lack higher-level information about the structure of a scene. Human-made environments contain a lot of structure, and we seek to take advantage of this by enabling the use of quadric surfaces as features in SLAM systems. We introduce a minimal representation for quadric surfaces and show how this can be included in a least-squares formulation. We also show how our representation can be easily extended to include additional constraints on quadrics such as those found in quadrics of revolution. Finally, we introduce a proof-of-concept SLAM system using our representation, and provide some experimental results using an RGB-D dataset.
