Visual Navigation System Based on Semi-consistent Topometric Map
Nowadays,popular visual navigation systems usually relied on high-precision Globally Consistent Metric(GCM)maps.However,GCM maps required complex computation for mapping and high storage requirements.Considering the disadvantages of GCM,a visual navigation system based on Semi-Consistent Topometric(SCT)map is proposed.The system only estimates local relative position for navigation without using precise maps or precise global position information.Theoretical analysis on navigation based on SCT map shows the maximum key-frame-distance condition of robust navigation.Experimental results in simulation and real-world show that,under the key-frame-distance condition,an SCT map requires no more than 20%storage of a popular GCM map,and that the proposed system still achieves robust navigation.
NETL
NSTL
万方数据
