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Open AccessArticle

Real-Time Photometric Calibrated Monocular Direct Visual SLAM

School of Mechanical Electrical and Information Engineering, Shandong University, Weihai 264209, China
Author to whom correspondence should be addressed.
Sensors 2019, 19(16), 3604;
Received: 28 June 2019 / Revised: 12 August 2019 / Accepted: 16 August 2019 / Published: 19 August 2019
(This article belongs to the Special Issue Intelligent Vehicles)
To solve the illumination sensitivity problems of mobile ground equipment, an enhanced visual SLAM algorithm based on the sparse direct method was proposed in this paper. Firstly, the vignette and response functions of the input sequences were optimized based on the photometric formation of the camera. Secondly, the Shi–Tomasi corners of the input sequence were tracked, and optimization equations were established using the pixel tracking of sparse direct visual odometry (VO). Thirdly, the Levenberg–Marquardt (L–M) method was applied to solve the joint optimization equation, and the photometric calibration parameters in the VO were updated to realize the real-time dynamic compensation of the exposure of the input sequences, which reduced the effects of the light variations on SLAM’s (simultaneous localization and mapping) accuracy and robustness. Finally, a Shi–Tomasi corner filtered strategy was designed to reduce the computational complexity of the proposed algorithm, and the loop closure detection was realized based on the oriented FAST and rotated BRIEF (ORB) features. The proposed algorithm was tested using TUM, KITTI, EuRoC, and an actual environment, and the experimental results show that the positioning and mapping performance of the proposed algorithm is promising. View Full-Text
Keywords: visual SLAM; sparse direct method; photometric calibration; corner detection and filtering; loop closure detection visual SLAM; sparse direct method; photometric calibration; corner detection and filtering; loop closure detection
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MDPI and ACS Style

Liu, P.; Yuan, X.; Zhang, C.; Song, Y.; Liu, C.; Li, Z. Real-Time Photometric Calibrated Monocular Direct Visual SLAM. Sensors 2019, 19, 3604.

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