单目无人机视觉同步定位与地图构建中环路闭合问题的研究  

Research on Loop Closure in Monocular UAV Visual Synchronous Positioning and Map Construction

作　　者：何玲[1] HE Ling(Suzhou Industrial Park Institute of Vocational Technology,Suzhou Jiangsu 215000)

机构地区：[1]苏州工业园区职业技术学院,江苏苏州215000

出　　处：《软件》2021年第12期74-76,共3页Software

摘　　要：尽管SLAM在过去的数年受到研究者们的广泛关注和投入,但仍有一些难题还未解决。特别是在大的动态的环境中,随着地图的持续增加,在保持可行的计算复杂度前提下,最小化全局偏移以及对闭环的高效侦测已经成为当前的研究热点。Although SLAM has received extensive attention and investment from researchers in the past few years,there are still some problems that have not been solved.Especially in the large dynamic environment,with the continuous increase of maps,minimizing the global off set and efficient detection of closed-loop have become the current research hotspot on the premise of maintaining feasible computational complexity.

关 键 词：局部地图构建 环路融合 视觉 优化 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]