A monocular vision mileage measuring method based on image color characteristics

Abstract

The invention discloses a monocular vision mileage measuring method based on image color characteristics. The method comprises the steps of using an image acquisition device for transmitting the acquired color image sequence to a computer through a transmission interface; extracting features from an input image frame, carrying out feature matching and calculating a frame descriptor of the image; establishing an initial map point meanwhile, using two initial frames as key frames, projecting the successfully initialized map point into the current frame; carrying out bundling optimization based on a reprojection error between the two frames of images, obtaining a pose transformation relation of a camera between the two frames to track the motion of the camera, finally selecting a new key frame according to the similarity with a previous key frame and an existing key frame in a map, adding the new key frame into the map, and updating the map. The method has a more robust feature matching effect, the used equipment is simple, the cost is relatively lower, and the method has relatively higher engineering application value and a relatively wide application scene.

Description

technical field [0001] The invention belongs to the technical field of visual positioning algorithms in computer vision, and in particular relates to a monocular visual mileage measurement method based on image color features. Background technique [0002] With the continuous development of computer vision technology, the technology of positioning through vision has been used in many scientific and technological fields such as drone technology, intelligent driving technology, augmented reality and virtual reality. As one of the important links in these positioning and navigation technologies, visual odometry has attracted more and more attention from the scientific research and industrial circles. The visual odometry technology obtains the image information of the unknown environment through the image sensor to estimate the trajectory of the carrier. [0003] Existing visual positioning systems can be divided into monocular camera systems, stereo camera systems and depth ca...

AI Technical Summary

Problems solved by technology

Among them, the structure of the stereo camera system is complicated, it is inconvenient to install, the calibration process of the camera is complicated, and the calculation of the algorithm is large

The depth camera system actively obtains the depth information of the environment by adding laser or infrared rays, and the laser and infrared rays are easily affected by external natural light, which leads to the failure of system positioning.

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