ESE 650 Final Project(3D SLAM)

Yutian Huan
Introduction In this project, I tried to solve 3D SLAM problem using odometer and RGB D !rames captured b" #inect$ %nli&e 'D SLAM using stable Lidar data as measurement, images and depth in!ormation can be much more nois" and ambiguous !or a moving robot$ Since there are more than three hundred thousand points in a single !rame, !eatures must be e(tracted to restrict the scale o! computation$ In this project, !eatures are e(tracted and matched bet)een t)o !rames using SI*+ algorithm, and then a particle !ilter is applied to get a corrected robot pose !or 3D mapping$ SIFT eature e!traction +he images captured b" the camera are consecutive image !rames based on the camera,s coordination$ In order to e(tract stable !eatures !or di!!erent !rames and also ma&e these !eatures comparable bet)een t)o !rames, the Scale Invariant *eature +rans!orm-SI*+. approach is applied to this project$ *or the SI*+ algorithm/01, scale space e(tremes-edges. are regarded as &e" points in the image, and each &e" point is labeled )ith scale and orientation )hich depend on the location and surroundings o! that point$

*igure 02 SI*+ !eatures !or t)o consecutive !rames Feature "atc#in$ 3ith the scale and orientation in!ormation about these &e" points, the matching process becomes much easier$ *or t)o consecutive image !rames both )ith their &e" points e(tracted and sorted, the matching is to !ind point pairs )hich has the most similar scale and orientation$ %nli&e normal !eature matching problems, i! t)o matched points are at 4uite di!!erent locations in the image, the" can simpl" be eliminated since )e alread" &no) that the location variance !or a certain object bet)een t)o consecutive images is restricted b" the robot,s velocit"$ Mea%ure"ent In this 3D SLAM procedure, the matched image !eatures are used as measurement to correct the robot,s pose$ *or t)o consecutive image !rames I t0 and I t , *eature points F t0 are trans!ormed into 3D space using Pt 0 , and F t are trans!ormed using estimated ne) pose P ' t $ Since these t)o groups o! points are alread" matched in 'D, the rigid trans!ormation Pt )hich minimi5e the sum o! euclidean distance error bet)een match point pairs should be used to correct P ' t $ +hus )e can get the ne) pose Pt = P' t P t $

+he process o! !inding the rigid trans!ormation Pt can be done using I67 algorithm$ In this project, ho)ever, the depth in!ormation is 4uite nois", and I67 is more li&el" to !all into local minimum and get 4uite strange rigid trans!ormation$ In practice, I used a particle !ilter instead to estimate possible Pt $ Li&e the 'D slam procedure, the updated pose is added )ith random noise in the orientation o! (," and "a) to generate 8 di!!erent particles$ *or each particle P' t , n , the euclidean distance error e n is calculated$ And the particle )hich has the smallest e n is regarded as the best trans!ormation and used !or pose update$ Although this method is onl" a simpli!ied procedure since it neglect the possible variance in 5, pitch and roll !or the robot pose, it is 4uite straight !or)ard and have good enough results i! the robot,s pose has onl" signi!icant changes in (," and "a)$

*igure '$ Matched point pairs

*igure 3$ Matched point pairs in 3D space

&e%ult% *igure 9 depicts part o! the 3D map dra)n !rom accumulated point clouds )ith the robot pose estimated using the 3D SLAM algorithm$

*igure 9$ part o! the 3D map

*igure : presents three di!!erent paths, the red one is the result o! 'D SLAM using Lidar data, and the green one is the path generated using onl" odometer data$ +he blue path is the result o! m" 3D slam algorithm$ As can be seen !rom the !igure, the 3D SLAM per!orms )ell and is able to correct the error o! odometr" data )hen there are enough !eature points$ *or some environments, ho)ever, it still has some une(pected measurement error$ 7art o! the reason is that the particle !ilter still cannot avoid !alling into local minimum and cause mis match )hen !eatures are not stable enough$

*igure :$ comparison o! di!!erent paths -odometr" onl";'D SLAM;3D SLAM. Dra'(ac)% 0$ +oo much computation2 Although one o! the purpose o! using SI*+ !eature e(traction is to reduce points )hen doing 3D alignment, computing t)o !rames !or a single time step still cost a lot o! time and the overall speed is more than 0< times slo)er than real time$ '$ 8eglecting 5, pitch and roll ma&es this algorithm onl" able to handle mapping tas&s on a plain ground$ Since si( degrees o! !reedom must be considered in the environment )ith ramps, I67 ma" still be the best choice to get the proper rigid trans!ormation$ &e erence /01 David G$ Lo)e Distinctive Image Features from Scale-Invariant Keypoints International =ournal o! 6omputer >ision, >olume ?< Issue ', 8ovember '<<9