改进特征匹配的ORB-SLAM稠密建图算法

doi:10.19678/j.issn.1000-3428.0065825

摘要/Abstract

摘要：

对于同步定位与建图（SLAM）中主流的特征点法，特征匹配是估计相机运动的关键，然而在特征匹配过程中存在图像特征的局部特性、误匹配等问题，成为视觉SLAM的瓶颈。此外，特征点法生成的稀疏地图只能用于定位，无法满足更高层次的需求。针对ORB-SLAM3中ORB特征点匹配效率低且未能生成稠密地图的问题，提出一种改进的ORB-GMS匹配策略并在ORB-SLAM3系统中加入稠密点云构建线程来实现稠密建图。将运动平滑性约束作为特征点运动统计的方法，通过比较特征点邻域内的匹配数量和阈值快速判断当前匹配是否正确，将图片网格化并快速计算网格内特征点的匹配数量，进行相机的位姿估计。根据关键帧与相应位姿构建稠密点云地图，采用外点去除滤波和体素网格滤波减小点云规模。在TUM的RGB-D数据集上的实验结果表明，与ORB-SLAM3相比，该算法可以减少约50%的匹配耗时，同时在匹配数量上平均提升60%，定位平均误差降低32%。此外，与稀疏地图相比，该方法生成易于2次加工的稠密点云地图，扩大算法的应用场景。

关键词: 同步定位与建图, 特征点, 特征匹配, 基于网格的运动统计, 稠密建图, 点云滤波

Abstract:

In the mainstream feature-based Simultaneous Localization and Mapping(SLAM) method, feature matching is a key step in estimating camera motion. However, the local characteristics of image features cause widespread mismatch and have become a major bottleneck in visual SLAM. In addition, the sparse maps generated by the feature-based method can only be used for localization, as they do not satisfy higher-level requirements. To address the problems of low efficiency in ORB feature point matching and failure to generate dense maps in ORB-SLAM3, an improved ORB Grid-based Motion Statistics(ORB-GMS) matching strategy is proposed, whereby a dense point cloud construction thread is added to ORB-SLAM3 to realize dense mapping. The motion smoothness constraint is used for the feature point motion statistics method, and the number of matches in the feature point neighborhood and threshold are compared to efficiently determine whether the current match is correct. The gridded images are used for fast computation to perform camera pose estimation. Finally, the dense point cloud map is constructed according to the key frame and the corresponding pose, using the outlier point removal and voxel-grid filters to reduce the size of the point cloud. The experimental results on the RGB-D dataset of TUM show that compared with ORB-SLAM3, the proposed algorithm can reduce matching time by approximately 50% and average positioning error by 32%, while increasing the number of matches by an average of 60%. In addition, compared to sparse maps, this method generates dense point cloud maps that are easy for secondary processing, thereby expanding the application scenarios of the algorithm.

Key words: Simultaneous Localization and Mapping(SLAM), feature point, feature matching, Grid-based Motion Statistics(GMS), dense mapping, point cloud filter

刘洋, 陈俊, 胡诗佳, 赖佳华. 改进特征匹配的ORB-SLAM稠密建图算法[J]. 计算机工程, 2023, 49(10): 247-254.

Yang LIU, Jun CHEN, Shijia HU, Jiahua LAI. Improved Feature Matching ORB-SLAM Algorithm for Dense Mapping[J]. Computer Engineering, 2023, 49(10): 247-254.

http://www.ecice06.com/CN/Y2023/V49/I10/247

图/表 10

图1 OpenCV与ORB-SLAM3提取ORB特征点对比

Fig.1 Comparison between OpenCV and ORB-SLAM3 in extracting ORB feature points

图2 特征点对的运动核

Fig.2 Motion kernel of feature point pairs

图3 正确匹配和错误匹配支持度对应的概率分布

Fig.3 Probability distribution corresponding to support for correct matching and wrong matching support

图4 本文算法架构

Fig.4 Architecture of the proposed algorithm

图5 ORB-SLAM3、ORB-GMS与本文算法筛除误匹配的结果

Fig.5 The results of ORB-SLAM3, ORB-GMS and the propoesd algorithm for screening out mismatches

图6 稀疏地图以及滤波前后的稠密点云地图效果

Fig.6 Sparse map and dense point cloud map without filtering and after filtering

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