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基于SLAM的单目移动机器人自主定位技术研究.docx

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基于SLAM的单目移动机器人自主定位技术研究 Title:ResearchonAutonomousLocalizationTechniqueforMonocularMobileRobotsbasedonSLAM Abstract: Withtheadvancementofmobilerobotics,theneedforaccurateandautonomouslocalizationhasbecomeacrucialaspectfortheirsuccessfuloperation.Monocularmobilerobots,equippedwithasinglecamera,faceuniquechallengesinachievingrobustandpreciselocalization.ThispaperaimstoexplorevarioustechniquesandalgorithmstodevelopareliableandautonomouslocalizationsystemformonocularmobilerobotsusingSimultaneousLocalizationandMapping(SLAM)approach.Theresearchfocusesonvisualodometrytechniques,featureextractionandmatchingalgorithms,andoptimizationmethodsforrobustandefficientlocalization.Severalexperimentsareconductedtoevaluatetheperformanceoftheproposedsystem,andtheresultsdemonstrateitseffectivenessinachievingaccurateandefficientlocalizationformonocularmobilerobots. 1.Introduction: Mobilerobotsoperatingindynamicenvironmentsrequireaccurateandreal-timelocalizationforeffectivenavigationandinteractionwiththesurroundings.Monocularmobilerobots,whichrelyonasinglecameraforperception,poseuniquechallengesduetothelackofdepthinformation.SLAMhasemergedasapopulartechniqueforsimultaneouslocalizationandmappinginmobilerobotics.ThispaperaimstoexploreSLAM-basedtechniquestodevelopanautonomouslocalizationsystemformonocularmobilerobots. 2.RelatedWork: AreviewoftheexistingliteratureonSLAMtechniquesformonocularmobilerobotsisconducted.Variousapproachessuchasfeature-basedSLAM,directmethods,andvisual-inertialSLAMarediscussed.Theadvantagesandlimitationsofeachapproachareanalyzedtoidentifysuitabletechniquesformonocularmobilerobotlocalization. 3.VisualOdometryTechniques: VisualodometryisacrucialcomponentofSLAMsystems,providingreal-timeestimatesoftherobot'smotionbasedonvisualinput.Differentvisualodometrytechniques,suchassparsefeaturetracking,denseopticalflow,anddirectmethods(e.g.,photometricerrorminimization),areinvestigated,andtheirperformanceandaccuracyarecompared.Thetrade-offsbetweencomputationalefficiencyandaccuracya