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Method for designing monocular vision odometer with light stream method and feature point matching method integrated

A technology of feature point matching and design method, applied in the field of computer vision, can solve the problem of low precision

Inactive Publication Date: 2013-09-25
ZHEJIANG UNIV
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AI Technical Summary

Problems solved by technology

In order to solve the problem of low accuracy, the optical flow method needs to be integrated with the traditional feature point matching method to improve the accuracy and meet the real-time requirements

Method used

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  • Method for designing monocular vision odometer with light stream method and feature point matching method integrated
  • Method for designing monocular vision odometer with light stream method and feature point matching method integrated
  • Method for designing monocular vision odometer with light stream method and feature point matching method integrated

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Embodiment

[0067] The present invention requires real-time image collection and real-time calculation and positioning. Therefore, in order to take advantage of the fast computing speed of the present invention, the image collection scene must be approximately a plane. The image acquisition of the present invention is a cyclic process, and the optical flow method is used to estimate the vehicle body motion for two consecutive frames of images, and the matching results of SURF feature points are used to correct every n frames of images. Therefore, this embodiment takes n=20 frames of images as an example to illustrate the entire process of the present invention.

[0068] Step 1) For two consecutive frames of images I input by the system k and I k+1 , first construct an image pyramid by sampling: the bottom image of the pyramid is the original image, and the bottom image is down-sampled by linear interpolation to obtain the upper layer image whose length and width are halved. ;

[0069] ...

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Abstract

The invention discloses a method for designing a monocular vision odometer with a light stream method and a feature point matching method integrated. Accurate real-time positioning is of great significance to an autonomous navigation system. Positioning based on the SURF feature point matching method has the advantages of being robust for illumination variations and high in positioning accuracy, and the defects of the SURF feature point matching method are that the processing speed is low and real-time positioning can not be achieved. The light steam tracking method has good real-time performance, and the defect of the light steam tracking method is that positioning accuracy is poor. The method integrates the advantages of the two methods, and the monocular vision odometer integrated with the light stream method and the feature point matching method is designed. Experimental results show that the algorithm after integration can provide accurate real-time positioning output and has robustness under the condition that illumination variations and road surface textures are few.

Description

technical field [0001] The invention relates to computer vision technology, in particular to a design method of a monocular vision odometer which combines optical flow and feature point matching. Background technique [0002] Precise positioning is critical for autonomous navigation systems. Various sensors are used in autonomous navigation systems to provide accurate position information, such as GPS / differential GPS, inertial navigation units (IMUs), and wheel odometers. However, each of these sensors has limitations in application scenarios. In recent years, odometry designed based on vision methods has gradually become an important choice for autonomous localization. Compared with the traditional positioning method, the visual odometer can also be used without satellites, will not be affected by the side slip of the wheels, and will not drift in the output results when the car body is not moving. [0003] Visual odometry is divided into binocular stereo vision odomete...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T7/20
Inventor 项志宇卢维郑驰
Owner ZHEJIANG UNIV
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