Study on the method of SLAM initialization for monocular vision

Abstract

Visual SLAM is considered as a key technology to realize the autonomous positioning and navigation of mobile robots, and also a hot research technology in the fields of unmanned driving, augmented reality and smart home. Among them, monocular camera based visual SLAM is one of the hotspots in the field of visual SLAM. In today's mainstream visual SLAM, PTAM needs to manually select two images to complete the initial keyframe trajectory and map point estimation process, which limits the practical application of the system and reduces the success rate of initialization. In addition, ORB-SLAM system adopts the statistical model selection method to realize the automatic initialization process. This paper first introduces the definition of the homography matrix and the fundamental matrix and the implementation algorithm, and then elaborates on the use of a certain scoring strategy to select the model method for initialization.