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Visual odometry background filtering method and device

A visual odometry and background filtering technology, applied in the field of visual odometry, can solve problems such as identifying image backgrounds

Active Publication Date: 2017-04-05
FUZHOU HUAYING HEAVY IND MACHINERY
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0017] For this reason, it is necessary to provide a visual odometer background filtering method and device to solve the problem of identifying the image background

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  • Visual odometry background filtering method and device
  • Visual odometry background filtering method and device
  • Visual odometry background filtering method and device

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Embodiment Construction

[0055] In order to explain in detail the technical content, structural features, achieved goals and effects of the technical solution, the following will be described in detail in conjunction with specific embodiments and accompanying drawings.

[0056] A major challenge of visual odometry is to accurately judge displacement in scenes filled with dynamic objects. This is especially important for autonomous vehicles driving in cities, because urban roads are full of vehicles of various sizes. These large-sized moving objects easily lead to a serious decline in the performance of the visual odometry pipeline.

[0057] If these dynamic objects can be effectively filtered out and the visual odometry pipeline can be concentrated on the static part of the scene, the accuracy of the visual odometry can be effectively improved. However, this method can assist the visual odometry in dynamic environments to accurately identify the background.

[0058] In order to distinguish the backg...

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Abstract

The present invention provides a method and device of background filtering of a visual odometry. The method provided by the invention comprises the following steps: calculating the depth of field of each pixel points according to a preset scene three-dimensional map and a driving image, and obtaining a depth of field view; calculating a weight disparity map according to the depth of field view and the driving image, the weight disparity map consisting of disparity information and weight information of each pixel point; performing post processing of the weight disparity map, and obtaining a background probability graph, the background probability graph consisting of probabilistic information taking each pixel point as the background; and processing the background probability graph, and obtaining an optimal background block. According to the invention, the background identification problem of a visual odometry is solved.

Description

technical field [0001] The invention relates to the field of visual odometer use, in particular to a visual odometer background filtering method and device. Background technique [0002] Visual odometry is a method that uses continuous camera pictures to calculate the displacement and attitude changes of a carrier (such as a robot) relative to a fixed scene. Compared with other displacement odometry methods (odometry), the benefits of visual odometry are: [0003] 1. The cost is low, only the camera on the sensor is required [0004] 2. Able to be immune to multiple types of interference (such as wheel displacement sensors affected by wheel slippage) [0005] 3. The accuracy rate is better. Its principle is very similar to that of humans judging their own displacement and posture changes through vision. Humans can accurately judge displacement only by the image information of both eyes, which provides a good reference for visual odometry [0006] The method of visual od...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/194G01C22/00
CPCG01C22/00G06T2207/10028
Inventor 潘晨劲赵江宜
Owner FUZHOU HUAYING HEAVY IND MACHINERY