High-Precision Visual SLAM Method Based on Industrial Reflective Features

Fig. 13. Ground truth and four motion trajectories obtained by proposed method, PnP, and ORB-SLAM3. (a) Sequence 1; (b) sequence 2; (c) sequence 3; (d) sequence 4

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Fig. 14. Absolute trajectory error distribution of four groups of data. (a) Sequence 1; (b) sequence 2; (c) sequence 3; (d) sequence 4

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Fig. 15. Attitude change curves of four groups of data. (a)-(c) Rotation of sequence 1 around three axis; (d)-(f) rotation of sequence 2 around three axis; (g)-(i) rotation of sequence 3 around three axis; (j)-(l) rotation of sequence 4 around three axis

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Fig. 16. Relative attitude error curves of four groups of data. (a)-(c) Rotation of sequence 1 around three axis; (d)-(f) rotation of sequence 2 around three axis; (g)-(i) rotation of sequence 3 around three axis; (j)-(l) rotation of sequence 4 around three axis

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Table 1. Basic parameters of main equipments

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Table 1. Basic parameters of main equipments

Equipment

Parameter

Leica M10

Resolution: 7840 pixel×5184 pixel

Focal length: 21 mm

Pixel size: 4.59 $μ m$

IDS UI-5280SE-M-GL

Resolution: 2048 pixel×1536 pixel

Focal length: 8 mm

Pixel size: 3.45 $μ m$

Xsens MTi-100 IMU

Gyroscopes noise density: $0.01 (°) / (s \cdot \sqrt[]{H z}$ )

Accelerometers noise density: $60 μ g / \sqrt[]{H z}$

Table 2. 3D position measurement accuracy of map points (comparison reference: global BA results of all images)

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Table 2. 3D position measurement accuracy of map points (comparison reference: global BA results of all images)

Direction	IND method		Proposed method
Direction	RMS error /mm	Max error /mm	RMS error /mm	Max error /mm
X direction	0.57	3.52	0.31	1.25
Y direction	0.18	0.63	0.17	0.48
Z direction	0.34	1.66	0.38	0.99
Absolute trajectory	0.69	3.66	0.52	1.29

Table 3. Number of frames involved in the BA and the number and proportion of bad points with errors greater than 1 mm
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Table 3. Number of frames involved in the BA and the number and proportion of bad points with errors greater than 1 mm
Method Number of key frames Number of points （error >1 mm） Proportion of points （error >1 mm） /%
IND 31 34 7.69
Proposed 57 13 2.95

Table 4. Absolute trajectory error (ATE ) in global localization (comparison reference: T-Mac)
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Table 4. Absolute trajectory error (ATE ) in global localization (comparison reference: T-Mac)
ATE
ORB-SLAM3
(natural points)
ORB-SLAM3
(reflective points)
ATE of X direction/ mm 51.28 11.50
ATE of Y direction / mm 37.33 6.36
ATE of Z direction / mm 34.76 12.85
Total ATE / mm 72.26 18.42

Table 5. ATE and three-axis displacement error in global localization (comparison reference: T-Mac)

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Table 5. ATE and three-axis displacement error in global localization (comparison reference: T-Mac)

Sequence		1	2	3	4
RMSE of X displacement /mm	ORB-SLAM3 （reflective points）	1.63	3.93	2.02	7.46
	PnP	0.76	1.23	1.15	1.26
	Proposed	0.74	0.95	1.01	1.13
RMSE of Y displacement /mm	ORB-SLAM3 （reflective points）	0.95	2.90	1.46	7.73
	PnP	0.33	1.18	0.71	1.22
	Proposed	0.34	0.93	0.78	0.98
RMSE of Z displacement /mm	ORB-SLAM3 （reflective points）	1.20	1.03	2.43	3.19
	PnP	0.40	1.38	0.85	1.59
	Proposed	0.34	0.98	0.79	1.30
RMSE of ATE /m	ORB-SLAM3 （reflective points）	2.24	4.99	3.48	11.21
	PnP	0.92	2.20	1.60	2.36
	Proposed	0.88	1.65	1.50	1.98

Table 6. Relative attitude error in global localization (comparison reference: T-Mac)
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Table 6. Relative attitude error in global localization (comparison reference: T-Mac)
Sequence
RMSE of
ORB-SLAM3
(reflective points) /(°)
RMSE of PnP /(°) RMSE of proposed method /(°)
1 0.023 0.012 0.015
2 0.035 0.051 0.023
3 0.033 0.027 0.030
4 0.240 0.079 0.024

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Zhao Guo, Ze Yang, Yongjie Ren, Yanbiao Sun, Jigui Zhu. High-Precision Visual SLAM Method Based on Industrial Reflective Features[J]. Acta Optica Sinica, 2024, 44(11): 1112003

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Paper Information

Category: Instrumentation, Measurement and Metrology

Received: Feb. 5, 2024

Accepted: Mar. 15, 2024

Published Online: Jun. 17, 2024

The Author Email: Sun Yanbiao (yanbiao.sun@tju.edu.cn)

DOI:10.3788/AOS240611

CSTR:32393.14.AOS240611

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Basic parameters of main equipments

Table 1. Basic parameters of main equipments

Table 2. 3D position measurement accuracy of map points (comparison reference: global BA results of all images)

Table 2. 3D position measurement accuracy of map points (comparison reference: global BA results of all images)

Table 3. Number of frames involved in the BA and the number and proportion of bad points with errors greater than 1 mm

Table 3. Number of frames involved in the BA and the number and proportion of bad points with errors greater than 1 mm

Table 4. Absolute trajectory error (ATE ) in global localization (comparison reference: T-Mac)

Table 4. Absolute trajectory error (ATE ) in global localization (comparison reference: T-Mac)

Table 5. ATE and three-axis displacement error in global localization (comparison reference: T-Mac)

Table 5. ATE and three-axis displacement error in global localization (comparison reference: T-Mac)

Table 6. Relative attitude error in global localization (comparison reference: T-Mac)

Table 6. Relative attitude error in global localization (comparison reference: T-Mac)