Stereo vision rapid navigation and positioning method based on double trifocal tensors

A technology of stereo vision, navigation and positioning, applied in image data processing, instruments, computing and other directions, can solve the problem of low positioning accuracy

Active Publication Date: 2012-09-19
ZHEJIANG UNIV
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AI Technical Summary

Problems solved by technology

The motion estimation algorithm corresponding to 3D-3D features generally uses a linear or nonlinear least squares method to minimize the 3D distance between the estimated feature point and the measured feature poin

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  • Stereo vision rapid navigation and positioning method based on double trifocal tensors
  • Stereo vision rapid navigation and positioning method based on double trifocal tensors
  • Stereo vision rapid navigation and positioning method based on double trifocal tensors

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Embodiment Construction

[0061] 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.

[0062] 1. Extract the BRISK feature points of the current frame left and right images of the stereo camera video stream, and obtain the image coordinates of the BRISK feature points of the current frame left and right images (u L，k , v L，k ) and (u R，k , v R，k ). The left image has a total of n 1 BRISK feature points, the right image has a total of n 2 A BRISK feature point; extract the U-BRISK descriptor on the corresponding image coordinate position;

[0063] 2. Take any feature point U-BRISK descriptor in the first image of the current frame, and the feature point U-BRISK descriptor in the second image within the parallax threshold range (0, 60), and calculate the distance between the two Hamming distance, if the Hamming distance is less than the threshold 80, t...

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Abstract

The invention belongs to the technical field of vision navigation and positioning, and discloses a stereo vision rapid navigation and positioning method based on double trifocal tensors. The method includes that initial movement parameters of double trifocal tensor motion constraints on a 3D-3D pose estimation method are built by using feature point image coordinates of stereo camera four images before and after moving, the parameters are optimized, and the parameter optimization accuracy is high. The method uses BRISK characteristics suggested by the CCV2011 as tracking matched characteristics, the calculation speed of the characteristics is rapid, and the positioning accuracy and the robustness are high. Stereo matching and front and back frame matching both use local descriptor U-BRISK, and the calculation speed of the descriptor is rapid. As the U-BRISK descriptor is a binary bit string, the matching speed is rapid. The stereo matching and front and back frame matching both use local descriptor U-BRISK to be matched, the robustness and the positioning accuracy are high.

Description

technical field [0001] The invention belongs to the technical field of visual navigation and positioning, and relates to a fast navigation and positioning method of stereo vision based on double-three-view tensor, which can be applied to fields such as intelligent mobile robots and autonomous navigation vehicles. Background technique [0002] In recent years, researchers at home and abroad have adopted various positioning sensors for the positioning methods and technologies of mobile robots, and have developed many different positioning systems, mainly including odometer method, inertial navigation, and global positioning navigation. Odometry is the most widely used positioning method in mobile robot navigation technology. The photoelectric encoder is installed on the wheel of the mobile robot, and the position and attitude of the robot can be calculated by recording the rotation of the wheel. The biggest disadvantage of this method is false encoder readings caused by wheel...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T7/20
Inventor 蒋云良许允喜刘勇
Owner ZHEJIANG UNIV
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