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High-precision real-time stereoscopic visual positioning method utilizing parallax space bundle adjustment

A technology of cluster adjustment and stereo vision, which is applied in stereo systems, using re-radiation, electrical components, etc., can solve problems such as slow convergence speed, convergence divergence, low numerical stability, and large dependence on initial values

Active Publication Date: 2012-07-25
HUZHOU TEACHERS COLLEGE
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Problems solved by technology

However, the bundle adjustment optimization method relies too much on the initial value, and the weak structure caused by long-distance feature points or long motion sequences will cause the disadvantages of slow convergence or low numerical stability such as convergence divergence.

Method used

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  • High-precision real-time stereoscopic visual positioning method utilizing parallax space bundle adjustment
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  • High-precision real-time stereoscopic visual positioning method utilizing parallax space bundle adjustment

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Embodiment Construction

[0058] In order to make the technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. The overall flow chart of the present invention is as figure 1 shown. As described in the flowchart, the steps are as follows:

[0059] 1. Stereo image correction:

[0060] The first frame of the video stream is selected as the starting frame; the video stream is formed by the camera of the stereo camera; using the parameters (internal reference, external reference, and distortion parameters) of the calibrated stereo camera, the epipolar line correction method is used to correct the stereo image pair, The feature points corresponding to the left and right images are located on the same horizontal scanning line, and the corrected stereo camera baseline length B and focal length f are obtained at the same time. The epipolar correction method adopts the Bouguet algorithm. ...

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Abstract

The invention discloses a high-precision real-time stereoscopic visual positioning method utilizing the parallax space bundle adjustment. According to the invention, only a video streaming obtained by a stereo camera is utilized to carry out navigation positioning of a mobile robot, so that the high-precision real-time stereoscopic visual positioning method has complete autonomy; a U-SURF descriptor is utilized to carry out feature matching, so that the high-precision real-time stereoscopic visual positioning method has strong robustness on illumination variation, motion blur and large rotation and scale variation which are generated in the moving process; and due to the utilization of a parallax space bundle adjustment optimizing method, an autonomous navigation vehicle can also be subjected to accurate real-time positioning when traveling for a long distance, so that the high-precision real-time stereoscopic visual positioning method has the advantages of low degree of dependence on an optimal initial value, high convergence rate, high value stability and the like and compared with a stereoscopic visual positioning method utilizing the bundle adjustment, the high-precision real-time stereoscopic visual positioning method has higher positioning precision and higher speed. The integral stereoscopic visual positioning method disclosed by the invention has high calculating speed and can be operated on line in real time.

Description

technical field [0001] The invention belongs to the technical field of computer vision autonomous navigation, and relates to a high-precision real-time stereo vision positioning method based on parallax space cluster adjustment, which can be applied to the fields of autonomous mobile robots, intelligent vehicles and the like. Background technique [0002] Autonomous navigation in unknown environments is one of the key tasks for various mobile robot or smart car applications. The robot needs to obtain its own positioning information in real time during its long-distance roaming. At present, due to the increasing cost performance of visual sensors and the development of visual computing, vision-based navigation and positioning methods are beginning to be widely used in various related fields. The visual navigation and positioning method relies on less hardware equipment and has low requirements for volume, power consumption, and load. It is suitable for various complex and un...

Claims

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Application Information

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IPC IPC(8): G01C11/36H04N13/00
Inventor 蒋云良许允喜刘勇
Owner HUZHOU TEACHERS COLLEGE
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