Uma abordagem de alinhamento de minimapa usando informações de observação de pontos intrínsecos aos sistemas de SLAM Visual baseado em características
Nenhuma Miniatura disponível
Data
2024-10-04
Autores
Título da Revista
ISSN da Revista
Título de Volume
Editor
Universidade Federal de Goiás
Resumo
This work proposes a map alignment approach based on a modification of the Iterative
Closest Point (ICP) algorithm to consider point estimation confidence metrics already
available in feature-based Visual SLAM systems. Mini-map alignment, in the context
of a hierarchical map composed of several local representations of the environment, is
an important task to allow the relationship of metric information between them, usually
performed through the registration of the point clouds of each map. ICP is a widely used
method in the literature for point cloud registration, but in the originally proposed form it
does not consider the uncertainty of the points, and can be sensitive to noise, outliers and
the initial estimate of the transformation. Feature-based Visual SLAM methods produce
information intrinsic to the way they are modeled, which can represent the confidence
of the map points and can be used to improve the alignment process. This research
enumerates three possible SLAM metrics that can be used to represent the confidence of
a map landmark, and investigates the potential of using these metrics to improve the ICP
algorithm. The confidence metrics are incorporated into the ICP through a simple change
in the correspondence estimation step to find the point with the highest confidence in a
neighborhood of k nearest points. Experiments are conducted in different cases of initial
misalignment to evaluate the influence of the confidence information suggested in this
work, comparing the error of the final alignment of the point clouds and the number of
iterations to achieve this alignment. The results show evidence that the use of confidence
can help to improve the convergence of the ICP, both in the error of the final configuration
and in the number of iterations required to achieve it.
Descrição
Palavras-chave
Citação
SARAIVA, F. P. Uma abordagem de alinhamento de minimapa usando informações de observação de pontos intrínsecos aos sistemas de SLAM Visual baseado em características. 2024. 78 f. Dissertação (Mestrado em Ciência da Computação) - Instituto de Informática, Universidade Federal de Goiás, Goiânia, 2024.