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Environment sensing one-eye visual navigating method adapted to self-aid moving vehicle

An autonomous mobile and environment-aware technology, applied in navigation, surveying and navigation, road network navigator, etc., can solve the problems of unseen monocular measurement navigation, incomplete and missing monocular three-dimensional measurement, etc., and achieve real-time performance requirements, convenient operation, and simplified calculation

Active Publication Date: 2009-06-03
BEIJING INST OF CONTROL ENG
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AI Technical Summary

Problems solved by technology

However, since monocular 3D measurement is theoretically incomplete and lacks an input condition, most of the algorithms for monocular vehicle navigation that we have seen are applied in semi-structured or known scenes, and have not yet been implemented. See related report on navigating autonomous rovers with monocular measurements in unknown environments

Method used

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  • Environment sensing one-eye visual navigating method adapted to self-aid moving vehicle
  • Environment sensing one-eye visual navigating method adapted to self-aid moving vehicle
  • Environment sensing one-eye visual navigating method adapted to self-aid moving vehicle

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Embodiment Construction

[0024] Such as figure 1 Shown, be the method flowchart of the present invention, concrete steps are as follows:

[0025] (1) Measure the internal parameters of camera distortion, install the camera on the autonomous mobile vehicle after measurement, and determine the transformation relationship from the image plane coordinate system to the world coordinate system;

[0026] (2) Record the current posture of the car body, collect images within the visible range of the current car body, and send the collected images back to the graphical operation interface, select the walking mode of the car body according to the target position and image conditions, and then analyze the collected images Perform distortion correction so that the corrected image satisfies the principle of pinhole imaging, select the walking path and the path points on the path according to the distortion-corrected image, and use the current position of the car body and the selected path points according to the im...

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Abstract

The invention is suitable to the independent motion vehicles environment sensation monocular visual navigation method, first surveys the camera distortion parameter, puts the camera on the independent motion vehicles, determines transformation relation from image plane coordinate system to world coordinate system; then records current car body posture, gathers the picture in the current car body visible scope, feedback the picture to the picture operation contact surface in order to definite the walk mode of the car body and do distortion correction on the gathering picture, select the path and the path spot on the path, according to the coordinates transformation relations under the world coordinate system put the current position and choice path result to the car body and demonstrate on the graph operation contact surface by the car body width; the car body walks according to the independently evades bonds or the way track way till the current visible scope last way spot, and then circling start from the gather picture to the final object point. The invention applies the monocular measuring technique in the unknown environment the visual navigation.

Description

technical field [0001] The invention relates to a monocular vision navigation method suitable for environment perception of autonomous moving vehicles. Background technique [0002] A key technology for autonomously moving vehicles is awareness of their surroundings. It mainly includes the recovery of three-dimensional coordinates of the surrounding unknown environment and the identification of obstacles, so as to ensure the normal operation of the navigation control system, and enable the vehicle to walk safely and reach the designated target point to complete the scientific detection task. In order to enhance the environmental awareness of autonomous vehicles, improve their autonomous planning capabilities, and realize autonomous navigation, many domestic units have conducted extensive research on multi-eye stereo vision technology, but due to the research on the application of computer vision theory in autonomous mobile vehicles Immature, the accuracy of the algorithm an...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/26
CPCG06K9/00791G06V20/56
Inventor 毛晓艳张晋陈建新
Owner BEIJING INST OF CONTROL ENG
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