Binocular vision positioning method and system in dynamic environment

A technology of binocular vision positioning and dynamic environment, applied in image data processing, instrument, character and pattern recognition, etc., can solve the problems of real-time impact, high computational complexity of image detection technology, etc.

Active Publication Date: 2019-11-22
UNIV OF SCI & TECH OF CHINA
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Problems solved by technology

[0003] However, this method has the following disadvantages: (1) The image detection technology itself has high computational complexity, while the positioning technology has high requirements for real-time performance. Adding deep learning and other frameworks to the SLAM system will make the real-time performance greatly affected

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  • Binocular vision positioning method and system in dynamic environment
  • Binocular vision positioning method and system in dynamic environment

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Embodiment Construction

[0069] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

[0070] In this application, the method for screening moving objects is not only applicable to binocular cameras, but also to monocular, multi-purpose, and RGB-D cameras. Therefore, the use of monocular, multi-eye, and RGB-D cameras can also achieve the present invention the goal of. The embodiment of this application takes the visual SLAM al...

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Abstract

The invention discloses a binocular vision positioning method and system in a dynamic environment applied to the technical field of robot positioning. The method comprises the following steps of extracting image feature points, distinguishing the feature points on the moving object points and the feature points on the non-moving object points in a mode of clustering the feature points. The featurepoints on the moving object can be effectively eliminated so that elimination of feature points on a static dynamic attribute object is avoided, more available feature points are reserved, and poseswhich are closest to IMU data and are estimated based on different feature point sets are screened through an inter-frame pose transformation matrix obtained through an IMU pre-integration algorithm,so that some external points such as feature points belonging to a moving object are effectively eliminated. According to the poses and depth estimation method integrating monocular motion vision andbinocular stereoscopic vision, the estimation precision can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of robot positioning, in particular to a binocular vision positioning method and system in a dynamic environment. Background technique [0002] Traditional GPS positioning technology is highly dependent on satellite signals, and its accuracy is greatly reduced in environments with many buildings and severe occlusion, especially in indoor environments, which are basically unusable. The inertial navigation technology based on the inertial navigation module (gyroscope, accelerometer) does not rely on external information, and the current position and orientation information of the carrier can be obtained through the integration of its own inertial navigation measurement information, but the inertial navigation positioning error increases with time. The existence of cumulative error, poor long-term accuracy. The vision-based positioning method is to determine the pose of the robot by analyzing the image sequenc...

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Application Information

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IPC IPC(8): G06T7/246G06T7/593G06T7/73G06K9/62
CPCG06T7/246G06T7/73G06T7/593G06T2207/10012G06F18/23
Inventor 秦家虎余雷陈宇航
Owner UNIV OF SCI & TECH OF CHINA
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