基于多智能体的图优化SLAM构建方法  

An Optimizing SLAM Construction Method Based on Multi-agent

作　　者：宋燕燕[1] 秦军[1,2] 邢艳芳[1] 汪晨曦[1] 周洪萍 SONG Yan-yan;QIN Jun;XING Yan-fang;WANG Chen-xi;ZHOU Hong-ping(Communication University of China,Nanjing,Nanjing 211172,China;Nanjing University of Posts and Telecommunications,Nanjing 210003,China)

机构地区：[1]中国传媒大学南广学院,江苏南京211172 [2]南京邮电大学,江苏南京210003

出　　处：《计算机技术与发展》2020年第11期205-209,共5页Computer Technology and Development

基　　金：江苏省高等学校自然科学研究面上项目(18KJB520053,18KJD520006,16KJD20005);江苏高校哲学社会科学研究基金项目(2018SJA0761);江苏省大学生创新创业训练计划项目(201913687003Y);院级项目(2019KYJK004,2019KYJG002)。

摘　　要：随着人工智能和增强现实技术在社会中的地位稳步上升,这些领域的核心关键技术在逐步实现突破,对于三维环境的动态实时的理解是当前增强现实技术研究方面最活跃的问题之一。为实现多人同时应用视觉同时定位与地图构建(simultaneous localization and mapping,SLAM)系统,将图优化框架的SLAM与多智能体进行结合研究,提出基于多智能体的SLAM构建方法。首先简要介绍了视觉SLAM框架,系统地分析了在构建三维场景时,利用相机将信息进行整合和预处理,并估算相邻图像之间的运动以及检测信息来构建整体的框架。从视觉中提炼出最优化的3D模型以及各种参数来达到三维重建,通过相机的运动过程来确定视觉的深度特性以及加强沉浸式的观感体验,最终根据其本身的可视化追踪和环境理解,将非线性优化方案结合多智能体进行SLAM构建,实现移动平台真实浏览虚拟样板间的可视化与交互。With the steady rise of the status of artificial intelligence and augmented reality technology in the society,the key technologies in these fields are gradually breaking through.The dynamic real-time understanding of 3D environment is one of the most active problems in the research of augmented reality.To realize the multi-person simultaneous application of simultaneous localization and mapping system,SLAM of graph optimization framework and multi-agent is combined and a multi-agent based SLAM construction method is put forward.Firstly,the visual SLAM framework is briefly introduced,and the whole frame is constructed by using the camera to integrate and preprocess the information and estimate the motion between the adjacent images and detect the information.Optimized 3D models and various parameters are extracted from vision to achieve three-dimensional reconstruction.The depth of vision is determined by the camera’s motion process and the immersion experience is enhanced.Finally,according to its own visual tracking and environmental understanding,a multi-agent SLAM construction method based on nonlinear optimization is proposed,and visualization and interaction between the real browsing virtual templates on the mobile platform is presented.

关 键 词：多智能体 图优化 同时定位与地图构建 三维重建 可视化 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]