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Optimal Information Estimation Method for Visual Navigation with Adjustable Output Rate

A technology of visual navigation and output rate, which is applied in the field of visual navigation to achieve the effects of improving reliability and accuracy, avoiding navigation failure, and facilitating integration

Active Publication Date: 2018-08-28
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Based on the requirements of visual navigation technology for image processing, a set of equal-rate data output methods suitable for visual navigation is proposed to solve the problems of image resolution accuracy and image output update rate

Method used

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  • Optimal Information Estimation Method for Visual Navigation with Adjustable Output Rate
  • Optimal Information Estimation Method for Visual Navigation with Adjustable Output Rate
  • Optimal Information Estimation Method for Visual Navigation with Adjustable Output Rate

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Embodiment Construction

[0025] The technical solution of the invention will be described in detail below in conjunction with the accompanying drawings.

[0026] Due to the time-consuming uncertainty of image processing, the existing methods cause non-equal rate output of image data, which is not conducive to the integration and information exchange between systems; and the collected image data will be disturbed by noise, and excessive interference will cause data loss . In view of the above two points, the present invention adopts a multi-threaded method to modularize image processing and data output, thereby realizing equal-rate output of data; and performing Kalman filter processing on the position information after image resolution to realize optimal visual navigation. Estimation of information. The present invention can adjust the navigation data output rate according to actual application conditions.

[0027] Step 1: Establish a multi-thread mechanism.

[0028] Create a thread object in the L...

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Abstract

The invention discloses an optimal information estimation method for visual navigation with adjustable output rate, and belongs to the technical field of visual navigation. Existing methods cause unequal rate output of image data due to the time-consuming uncertainty of image processing, which is not conducive to integration and information exchange between systems; and the collected image data will be interfered by noise, and excessive interference will cause data loss. . In view of the above two points, the present invention adopts a multi-threaded approach to modularize image processing and data output, thereby achieving equal-rate output of data; and performs Kalman filtering processing on the position information after image resolution to achieve optimal visual navigation. Estimates of information. The invention can adjust the navigation data output rate according to actual application conditions.

Description

technical field [0001] The invention discloses a visual navigation optimal information estimation method with adjustable output rate, and belongs to the technical field of visual navigation. Background technique [0002] With the continuous development of navigation technology, more and more new navigation methods have been discovered and studied. Visual navigation is one of the most prominent navigation methods. Visual navigation is a new navigation technology that collects images of the surrounding environment through cameras, filters and calculates the images, completes its own pose determination and path recognition, and makes navigation decisions. Since visual navigation adopts a passive working mode, the equipment is simple and the cost is low, its application range is very wide, and it is widely used in the fields of aerospace, robotics and intelligent vehicle transportation. [0003] Visual navigation technology has high requirements for image processing. On the on...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G06T5/00
CPCG01C21/20G06T2207/20024G06T5/70
Inventor 李旺灵孙永荣黄斌王勇刘建业吴玲熊智朱云峰
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS