摘要： 实现单目视觉同时定位与建图(SLAM)仿真系统，描述其设计过程。该系统工作性能良好，其SLAM算法可扩展性强，可以精确逼近真实单目视觉SLAM过程。以方便SLAM算法的研究为目标，提供了大量辅助记录、观察和分析实验结果的功能，有助于实验的复现和不同算法效果的对比研究。
关键词:
单目视觉传感器,
扩展卡尔曼滤波,
同时定位与建图,
移动机器人
Abstract: This paper implements a simulation system for single camera Simultaneous Localization And Mapping(SLAM), and presents the design process. This system has good work performance, and its SLAM algorithms has high expansibility, which can approach the real single camera SLAM process. It aids to convenience the research of SLAM algorithm, provides a lot of useful functions to record, observe and analyze simulation results, which makes repeating experiments and comparing algorithm effect more easily.
Key words:
single camera sensor,
extended Kalman filter,
simultaneous localization and mapping,
mobile robot
中图分类号:
张展宇;黄亚楼;李 超;康叶伟;孙凤池. 单目视觉SLAM仿真系统的设计与实现[J]. 计算机工程, 2008, 34(19): 197-199.
ZHANG Zhan-yu; HUANG Ya-lou; LI Chao; KANG Ye-wei; SUN Feng-chi. Design and Implementation of Simulation System for Single Camera SLAM[J]. Computer Engineering, 2008, 34(19): 197-199.