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Monocular visual positioning method based on inverse perspective projection transformation

A technology of projection transformation and positioning method, applied in the direction of photo interpretation, etc., can solve the problems of difficult extraction of feature points, large measurement errors of algorithms, and no consideration of cameras, so as to avoid large calculation errors, improve positioning accuracy, and eliminate perspective. effect of effect

Inactive Publication Date: 2011-10-19
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

It has the following disadvantages: first, the algorithm is complex and time-consuming, and it is difficult to meet the real-time requirements; second, when the environmental background has no obvious texture features, the number of extracted feature points is limited, which will lead to large measurement errors in the algorithm
If the environmental texture features are single and the feature points are difficult to extract near the wheeled vehicle, the algorithm will have a large measurement error and even fail
Since the theoretical model in this paper is approximated to a certain extent, at the same time, it does not take into account that when the camera moves with the wheeled vehicle, the problem of attitude changes will inevitably occur, and there are certain limitations in directly performing feature matching on perspective images. As a result, the final positioning accuracy is not ideal

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  • Monocular visual positioning method based on inverse perspective projection transformation
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  • Monocular visual positioning method based on inverse perspective projection transformation

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[0034] figure 1A flow chart of the specific implementation of the present invention is given. In the first step, an inverse perspective projection transformation is performed on the image sequence. In this step, for the method of solving the camera internal parameter matrix and the camera external parameter matrix, refer to pages 22 to 33 of the book "Principles and Applications of Photogrammetry" (published by Science Press, written by Yu Qifeng / Shang Yang). In the second step, the transformation matrix between adjacent images is calculated. Among them, step (1) is to extract feature points. In this step, the feature detection operator used is the SURF operator. For the properties and usage of the SURF feature operator, refer to the document "Distinctive image features from scale invariant key points" (Journal: International Journal of Computer Vision, 2004, 60( 2), page number 91-110, author David G.Lowe) and literature "SURF: Speeded up robust features" (Conference: Proc...

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Abstract

The invention provides a monocular visual positioning method based on inverse perspective projection transformation. The technical scheme employed in the invention is that: an attitude sensor and a camera are fixed together and arranged on a wheeled vehicle; and images shoot in driving are subjected to the following processes: step 1, carrying out inverse perspective projection transformation on an image sequence; step 2, obtaining transformation matrixes between adjacent images through calculating; and step 3, determining a driving locus curve of the wheeled vehicle. The method allows high accurate positioning results to be obtained by assisting to position the wheeled vehicle through real time attitude information obtained by the attitude sensor, and the perspective effect to be eliminated through carrying out inverse perspective projection transformation on the images, so the precision of wheeled vehicle positioning can be further improved.

Description

technical field [0001] The invention relates to the technical field of camera measurement and image processing, and further relates to a method for monocular vision positioning of a motion platform by using an inverse perspective projection transformation algorithm. Background technique [0002] Automobile autonomous driving technology is a hot research topic at home and abroad in recent years, and the key technology is how to realize real-time and accurate self-positioning of wheeled vehicles. At present, the commonly used positioning solution is to use the integrated navigation system of GPS (Global Position System, Global Positioning System) and IMU (Inertial Measurement Unit, Inertial Measurement Unit), but the price is generally expensive, and when the environment makes the motion platform unacceptable When there is no GPS signal, this solution cannot complete the positioning function. [0003] The existing visual localization methods are mainly divided into two catego...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/08G01C11/28
Inventor 冯莹曹毓魏立安雷兵陈运锦杨云涛赵立双
Owner NAT UNIV OF DEFENSE TECH
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