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Visual milemeter method based on RGB-D camera

A technology of visual odometer and camera, applied in computing, image data processing, measuring devices, etc., can solve the problems of expensive price, complex equipment, heavy workload of image processing, etc.

Inactive Publication Date: 2012-09-26
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It is generally believed that the binocular stereo system can obtain more reliable, accurate and convenient results than the monocular system (Nister, Visual Odometry for Ground Vehicle Applications, Journal of Field Robotics, 2006). Installation is inconvenient, image processing workload is heavy, and existing commercial binocular stereo cameras are also expensive

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  • Visual milemeter method based on RGB-D camera
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  • Visual milemeter method based on RGB-D camera

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Embodiment Construction

[0047] The method of the present invention will be further described below in conjunction with the accompanying drawings.

[0048] Such as figure 1 As shown, the present invention includes three parts: an RGB-D camera, a computer host and an autonomous vehicle; the computer host is installed inside the autonomous vehicle, and the RGB-D camera is fixed on the top of the autonomous vehicle; the RGB-D camera is connected through a USB interface (or 1394 interface) Connect with the host computer.

[0049] Such as figure 2 Shown, the concrete steps of the inventive method are as follows:

[0050] Step (1). Fix the RGB-D camera on the top of the periphery of the autonomous vehicle to replace the traditional monocular or binocular camera to perceive the environment and output a color image and the depth image .

[0051] Step (2). Since the color camera and the depth camera are in different positions in the RGB-D camera, the images formed by them also project the three-dimensi...

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Abstract

The invention discloses a visual milemeter method based on an RGB-D camera. The conventional visual milemeter methods are all based on a monocular or binocular camera and have the problem that three-dimensional information of a scene cannot be obtained or equipment is complicated and inconvenient to install. The visual milemeter method based on the RGB-D camera comprises the RGB-D camera, a computer host and an autonomous vehicle, wherein the computer host is installed in the autonomous vehicle, the RGB-D camera is fixed at the top end of the periphery of the autonomous vehicle, and the RGB-D camera is connected with the computer host through a USB (universal serial bus) interface (or 1394 interface). According to the method, feature extraction, feature matching and tracking and motion estimation are carried out on front and back frames of images on the basis of the aligned RGB-D image sequence obtained by the RBG-D camera so as to obtain the motion distance and direction of a vehicle body. The method has the advantages that the equipment is simple and convenient to install, the cost is lower, the work load of image processing is lower, the accurate three-dimensional information of the scene can be obtained and the result of motion estimation is accurate and reliable.

Description

technical field [0001] The invention belongs to the field of vehicle autonomous navigation, and in particular relates to a visual odometer method based on an RGB-D camera. Background technique [0002] Odometer is crucial in the process of vehicle navigation and positioning. Visual odometer is a method that relies on visual information to measure the distance and direction of vehicle movement. It solves the measurement error caused by wheel slippage of wheel odometer, and there is no error caused by factors such as sensor accuracy reduction or inertial navigation drift. It is a traditional method. effective supplement. [0003] Currently, the proposed visual odometry methods are all based on monocular or binocular cameras. The visual odometer relies on the image sequence obtained by the monocular or binocular camera, and obtains the six-degree-of-freedom update (position and attitude) of the car body through feature extraction, feature matching and tracking, and motion est...

Claims

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Application Information

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IPC IPC(8): G01C22/00G06T7/20G06T7/246G06T7/80
Inventor 曹腾龚小谨刘济林
Owner ZHEJIANG UNIV
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