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System Development & Application
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 3
826-830,840

Research on UAV SLAM method based on visual inertial odometer and semantic information

Chen Guojun1
Chen Wei1
Guo Tiezheng1
Wang Zhiming2
1. Industrial Center, Nanjing Institute of Technology, Nanjing 211167, China
2. Zhejiang Province Key Laboratory of Crop Harvesting Equipment Technology, Jinhua Zhejiang 321007, China
DOI: 10.19734/j.issn.1001-3695.2021.08.0326

Abstract

There are abundant semantic information in the indoor environment, which can make the robot better understand the environment and improve the accuracy of robot pose estimation. Although semantic information has been deeply studied and widely used in the field of robot simultaneous localization and map construction(SLAM), there are still many difficulties in accurate environment perception, semantic feature extraction and semantic information utilization. In view of the above difficulties, this paper proposed a new method based on the combination of VIO algorithm and semantic information. This method estimated the state of the robot through VIO, and constructed the sparse semantic map of the geometric surface extracted from semantic detection through correction estimation. It solved the cumulative error of VIO and inertial measurement unit by associating the geometric information of the detected semantic object with the previously mapped semantic information. The experimental results show that this method obtains better results than the VIO algorithm. The SLAM algorithm combining semantic information and VIO shows the advantages of good robustness and accuracy. This method improves the navigation accuracy of UAV, realizes UAV intelligent autonomous navigation.

Foundation Support

江苏省农业科技自主创新资金资助项目(CX(21)1007)
教育部产学合作协同育人资助项目(201801166003)
浙江省农作物收获装备技术重点实验室开放课题(2021KY03,2021KY04)
南京工程学院科研基金产学研前瞻性项目(CXY201916)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.08.0326
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 3
Section: System Development & Application
Pages: 826-830,840
Serial Number: 1001-3695(2022)03-031-0826-05

Publish History

[2021-10-31] Accepted Paper
[2022-03-05] Printed Article

Cite This Article

陈国军, 陈巍, 郭铁铮, 等. 基于视觉惯性里程计与语义信息的无人机SLAM方法研究 [J]. 计算机应用研究, 2022, 39 (3): 826-830,840. (Chen Guojun, Chen Wei, Guo Tiezheng, et al. Research on UAV SLAM method based on visual inertial odometer and semantic information [J]. Application Research of Computers, 2022, 39 (3): 826-830,840. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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