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Monocular vision mileage calculating device

A monocular vision and computing device technology, applied in the field of intelligent vehicle vision positioning and navigation

Active Publication Date: 2014-12-03
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0005] In view of the above analysis, the present invention aims to provide a monocular visual odometry calculation device to solve the limitations of existing visual odometry calculations

Method used

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  • Monocular vision mileage calculating device

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Embodiment Construction

[0045] The method described in the embodiment of the present invention is applied to the occasion where the monocular vision system can obtain vehicle speed information, and the yaw angle and pitch angle components are estimated based on the dynamics of the single-track dynamics model and reasonable linear approximation. By considering the cornering characteristics of the tire, the relationship between the sideslip angle of the center of mass and the variation of the yaw angle is derived, so that a more accurate estimation of the sideslip angle of the center of mass is obtained; by introducing the rotation matrix component caused by the variation of the pitch angle, and Considering the actual range of the pitch angle change of the car body, a reasonable linear approximation is made, and an efficient and accurate initial solution is obtained.

[0046] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings...

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Abstract

The invention discloses a monocular vision mileage calculating device. The monocular vision mileage calculating device comprises a feature detection and correlation module 1 and a pose estimation module 2, wherein the feature detection and correlation module 1 is used for detecting GFtT feature points at each moment when a new image is obtained, and tracking positions of the GFtT feature points in the image at the next moment so as to obtain a GFtT feature point correlation set in a certain time and outputting the GFtT feature point correlation set to the pose estimation module; the pose estimation module 2 is used for modeling by a pose estimation algorithm based on constraint of a vehicle dynamic model according to the GFtT feature point correlation set output by the feature detection and correlation module so as to obtain a relative pose transformation between adjacent moments. The monocular vision mileage calculating device has relatively high efficiency and accuracy, can meet real-time positioning and navigation requirements of an intelligent vehicle, can be used in a complex environment with a large quantity of movement obstacles, is free of assumed limit in static scenes and is capable of meeting the use requirements of an intelligent vehicle in a complex urban road environment.

Description

technical field [0001] The invention relates to the field of visual positioning and navigation of intelligent vehicles, in particular to a monocular visual mileage calculation device. Background technique [0002] Positioning and navigation technology is mainly used to determine the location and direction of intelligent vehicles, which is an important prerequisite for ensuring that intelligent vehicles complete autonomous behavior. In the absence of a known map, the GPS signal is blocked, etc., and the environmental position information cannot be obtained, the self-positioning ability of the intelligent vehicle during the movement is of great significance. With the development of computer vision technology, visual positioning methods are widely used in various working environments such as ground, air, underwater and planetary surfaces, and are also increasingly used for self-positioning and orientation estimation of ground mobile vehicles. . [0003] The vision method only...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C22/00G01C21/26
CPCG01C21/26G01C22/00
Inventor 熊光明江燕华陈慧岩
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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