Automatic Control Department, Technical University of Catalonia, 5 Pau Gargallo St, 08028 Barcelona, Spain.
ISA Trans. 2013 Sep;52(5):662-71. doi: 10.1016/j.isatra.2013.04.008. Epub 2013 May 20.
In this work, a novel data validation algorithm for a single-camera SLAM system is introduced. A 6-degree-of-freedom monocular SLAM method based on the delayed inverse-depth (DI-D) feature initialization is used as a benchmark. This SLAM methodology has been improved with the introduction of the proposed data association batch validation technique, the highest order hypothesis compatibility test, HOHCT. This new algorithm is based on the evaluation of statistically compatible hypotheses, and a search algorithm designed to exploit the characteristics of delayed inverse-depth technique. In order to show the capabilities of the proposed technique, experimental tests have been compared with classical methods. The results of the proposed technique outperformed the results of the classical approaches.
在这项工作中，我们引入了一种用于单目 SLAM 系统的新颖数据验证算法。以基于延迟逆深度（DI-D）特征初始化的六自由度单目 SLAM 方法作为基准。通过引入所提出的数据关联批量验证技术和最高阶假设相容性测试（HOHCT），对该 SLAM 方法进行了改进。该新算法基于统计相容假设的评估，以及旨在利用延迟逆深度技术特征的搜索算法。为了展示所提出技术的能力，对实验测试进行了比较，结果表明，所提出的技术优于经典方法。
