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Monocular visual mileometer positioning method

A positioning method and monocular vision technology, applied in the field of computer vision, can solve problems such as insufficient robustness and unreasonable positioning strategies, and achieve the effects of high success rate, high positioning accuracy, and high robustness

Inactive Publication Date: 2019-08-09
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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AI Technical Summary

Problems solved by technology

However, SVO also has the problems of the direct method, as well as unreasonable positioning strategies, resulting in insufficient robustness to lighting, fast motion, and scenes with concentrated feature distribution.

Method used

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Embodiment Construction

[0016] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0017] Taking the UAV public dataset EUROC as an example, its collected image resolution is 752*480, and the image sequence has illumination transformation and motion blur caused by the rapid movement of the UAV, so it is challenging.

[0018] The present invention provides a monocular visual odometer positioning method that combines feature matching and semi-direct method, such as figure 1 As shown, including the following specific processes:

[0019] Step 1), read the current frame input image.

[0020] Step 2), read the current state of the current frame image, if it is the initial state, then enter the initialization module. If the current frame image is in a normal state, directly enter the sparse image alignment step. Such as figure 2 A...

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Abstract

The invention discloses a monocular visual mileometer positioning method. The method comprises the following steps that an input image of a present frame is read; a parallax based method is used to initialize a visual mileometer, a subsequent motion estimation step is started after success of initialization; a nonlinear optimization problem by taking pose as an optimization variable is formed fora last frame on the basis of gray scale invariance, and an initial inter-frame pose is obtained; a local map is constructed on the basis of the initial pose, and a density based tracking strategy is used to complete projective point characteristic matching and sub-pixel position optimization of the local map; and a more accurate constraint relation is obtained by tracking of the local map, the relation further optimizes the pose and map points, and a final positioning result is output. The monocular visual mileometer positioning method can reach higher positioning precision, and can reach therobustness and instantaneity needed by unmanned aerial vehicle navigation applications.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a monocular vision odometer positioning method. Background technique [0002] The research on autonomous navigation in known environment has been relatively mature, but the research on navigation in unknown environment has not yet formed a unified and perfect system. Autonomous navigation tasks can be divided into three steps: positioning, mapping, and path planning. Synchronous positioning and mapping technology involves the first two elements. With the rapid development of computer vision technology, the miniaturization and low cost of visual sensors, visual SLAM is gradually It has become a hot issue in the field of robot autonomous navigation. [0003] Visual odometry (Visual Odometry, VO) is an important part of the front-end of visual SLAM. Its function is to respond to the input image frame in real time and estimate the camera pose. From the implementation method,...

Claims

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Application Information

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IPC IPC(8): G01C11/06G01C22/00
CPCG01C11/06G01C22/00
Inventor 程月华徐贵力杨吉多才谢瑒马栎敏
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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