摘要
SLAMisoneofthemostimportantcomponentsinrobotnavigation.ASLAMalgorithmbasedonimagesequencescapturedbyasingledigitalcameraisproposedinthispaper.Bythisalgorithm,SIFTfeaturepointsareselectedandmatchedbetweenimagepairssequentially.Afterthreeimageshavebeencaptured,theenvironment’s3Dmapandthecamera’spositionsareinitializedbasedonmatchedfeaturepointsandintrinsicparametersofthecamera.Arobustmethodisappliedtoestimatethepositionandorientationofthecameraintheforthcomingimages.Finally,arobustadaptivebundleadjustmentalgorithmisadoptedtooptimizetheenvironment’s3Dmapandthecamera’spositionssimultaneously.Resultsofquantitativeandqualitativeexperimentsshowthatouralgorithmcanreconstructtheenvironmentandlocalizethecameraaccuratelyandefficiently.
出版日期
2008年04月14日（中国期刊网平台首次上网日期，不代表论文的发表时间）
