A monocular vision mileage calculation device

Abstract

The invention discloses a monocular vision mileage calculating device. The monocular vision mileage calculating device comprises a feature detection and correlation module 1 and a pose estimation module 2, wherein the feature detection and correlation module 1 is used for detecting GFtT feature points at each moment when a new image is obtained, and tracking positions of the GFtT feature points in the image at the next moment so as to obtain a GFtT feature point correlation set in a certain time and outputting the GFtT feature point correlation set to the pose estimation module; the pose estimation module 2 is used for modeling by a pose estimation algorithm based on constraint of a vehicle dynamic model according to the GFtT feature point correlation set output by the feature detection and correlation module so as to obtain a relative pose transformation between adjacent moments. The monocular vision mileage calculating device has relatively high efficiency and accuracy, can meet real-time positioning and navigation requirements of an intelligent vehicle, can be used in a complex environment with a large quantity of movement obstacles, is free of assumed limit in static scenes and is capable of meeting the use requirements of an intelligent vehicle in a complex urban road environment.

Description

technical field

[0001] The invention relates to the field of visual positioning and navigation of intelligent vehicles, in particular to a monocular visual mileage calculation device. Background technique

[0002] Positioning and navigation technology is mainly used to determine the location and direction of intelligent vehicles, which is an important prerequisite for ensuring that intelligent vehicles complete autonomous behavior. In the absence of a known map, the GPS signal is blocked, etc., and the environmental position information cannot be obtained, the self-positioning ability of the intelligent vehicle during the movement is of great significance. With the development of computer vision technology, visual positioning methods are widely used in various working environments such as ground, air, underwater and planetary surfaces, and are also increasingly used for self-positioning and orientation estimation of ground mobile vehicles. .

[0003] The vision method only...

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