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基于事件相机的定位与建图算法: 综述

马艳阳 叶梓豪 刘坤华 陈龙

马艳阳,  叶梓豪,  刘坤华,  陈龙.  基于事件相机的定位与建图算法: 综述.  自动化学报,  2021,  47(7): 1484−1494 doi: 10.16383/j.aas.c190550
引用本文: 马艳阳,  叶梓豪,  刘坤华,  陈龙.  基于事件相机的定位与建图算法: 综述.  自动化学报,  2021,  47(7): 1484−1494 doi: 10.16383/j.aas.c190550
Ma Yan-Yang,  Ye Zi-Hao,  Liu Kun-Hua,  Chen Long.  Event-based visual localization and mapping algorithms: a survey.  Acta Automatica Sinica,  2021,  47(7): 1484−1494 doi: 10.16383/j.aas.c190550
Citation: Ma Yan-Yang,  Ye Zi-Hao,  Liu Kun-Hua,  Chen Long.  Event-based visual localization and mapping algorithms: a survey.  Acta Automatica Sinica,  2021,  47(7): 1484−1494 doi: 10.16383/j.aas.c190550

基于事件相机的定位与建图算法: 综述

doi: 10.16383/j.aas.c190550
基金项目: 国家重点研发计划(2018YFB1305002), 国家自然科学基金(61773414)资助
详细信息
    作者简介:

    马艳阳:2020年获得中山大学硕士学位. 2018年获得中山大学计算机科学与技术学士学位. 主要研究方向为机器人定位与建图技术. E-mail: mayany3@mail2.sysu.edu.cn

    叶梓豪:中山大学计算机学院硕士研究生. 2020年获得中山大学软件工程学士学位. 主要研究方向为多传感器融合的即时同步定位与建图技术. E-mail: yezh9@mail2.sysu.edu.cn

    刘坤华:中山大学数据科学与计算机学院博士后. 2019年获得山东科技大学机电工程学院博士学位. 主要研究方向为自动驾驶环境感知. E-mail: lkhzyf@163.com

    陈龙:中山大学数据科学与计算机学院副教授. 于2007年、2013年获得武汉大学学士、博士学位. 主要研究方向为自动驾驶, 机器人, 人工智能. 本文通信作者. E-mail: chenl46@mail.sysu.edu.cn

Event-based Visual Localization and Mapping Algorithms: A Survey

Funds: Supported by National Key Research and Development Program of China (2018YFB1305002), National Natural Science Foundation of China (61773414)
More Information
    Author Bio:

    MA Yan-Yang He received his master degree from the School of Computer Science and Engineering, Sun Yat-Sen University in 2020. He received his bachelor degree from Sun Yat-Sen University in 2018. His research interest covers robot localization and mapping

    YE Zi-Hao Master student at the School of Computer Science and Engineering, Sun Yat-Sen University. He received his bachelor degree in software engineering from Sun Yat-Sen University in 2020. His research interest covers real-time synchronous localization and mapping technology of multi-sensor fusion

    LIU Kun-Hua Postdoctor at the School of Data and Computer Science, Sun Yat-sen University. She received her Ph.D. degree from the Mechanical and Electrical Engineering Institute, Shandong University of Science and Technology. Her research interest covers automatic driving environment perception

    CHEN Long Associate professor at the School of Data and Computer Science, Sun Yat-sen University. He received his bachelor degree and Ph.D. degree from Wuhan University in 2007 and 2013. His research interest covers autonomous driving, robotics and artificial intelligence. Corresponding author of this paper

  • 摘要:

    事件相机是一种新兴的视觉传感器, 通过检测单个像素点光照强度的变化来产生“事件”. 基于其工作原理, 事件相机拥有传统相机所不具备的低延迟、高动态范围等优良特性. 而如何应用事件相机来完成机器人的定位与建图则是目前视觉定位与建图领域新的研究方向. 本文从事件相机本身出发, 介绍事件相机的工作原理、现有的定位与建图算法以及事件相机相关的开源数据集. 其中, 本文着重对现有的、基于事件相机的定位与建图算法进行详细的介绍和优缺点分析.

  • 图  1  事件相机输出的地址−事件流[47]

    Fig.  1  Address-event stream output by event-based camera[47]

    图  2  DVS像素结构原理图[34]

    Fig.  2  Abstracted DVS pixel core schematic[34]

    图  3  DVS工作原理图[34]

    Fig.  3  Principle of DVS operation[34]

    图  4  Bryner算法工作流程[51]

    Fig.  4  The workflow of Bryner' s algorithm[51]

    表  1  文中叙述的部分基于事件相机的SLAM算法及应用

    Table  1  Event-based SLAM algorithms and applications

    相关文献所使用传感器维度算法类型是否需要输入地图发表时间 (年)
    [44]DVS2D定位2012
    [45]DVS2D定位与建图2013
    [47]DVS3D定位2014
    [48]DVS3D定位与建图2016
    [49]DVS3D定位与建图2016
    [51]DVS3D定位2019
    [52]DVS, 灰度相机3D定位2014
    [53]DVS, RGB-D相机3D定位与建图2014
    [55]DAVIS3D定位2016
    [56]DAVIS (内置IMU)3D定位2017
    [59]DAVIS (内置IMU)3D定位与建图2017
    [64]DAVIS (内置IMU), RGB相机3D定位与建图2018
    [65]DAVIS (内置IMU)3D定位2018
    下载: 导出CSV

    表  2  DVS公开数据集

    Table  2  Dataset provided by event cammera

    相关文献所使用传感器相机运动自由度数据采集场景载具是否提供真值发表时间(年)
    [53]eDVS相机, RGB-D相机6DOF室内手持2014
    [28]DAVIS (内置IMU)3DOF(纯旋转)室内, 仿真旋转基座2016
    [68]DAVIS, RGB-D相机4DOF室内, 仿真地面机器人和云台2016
    [69]DAVIS (内置IMU)6DOF室内 室外 仿真手持室内: 是 室外: 否 仿真: 是2016
    [70]DAVIS6DOF室外汽车2017
    [71] 2×DAVIS (内置IMU) 2×RGB相机 (内置IMU) 16线激光雷达 6DOF 室内 室外 室内
    到室外
    四轴飞行器 摩托车 汽车 手持 2018
    [72] 2×DAVIS (内置IMU) RGB-D相机3DOF 室内 3×地面机器人 2018
    [73]DAVIS6DOF室内手持2019
    [51]DAVIS, IMU6DOF室内, 仿真手持2019
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-07-25
  • 录用日期:  2019-12-15
  • 网络出版日期:  2020-01-03
  • 刊出日期:  2021-07-27

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