Visual odometer realization method based on fusion of RGB and depth information
A visual odometry and implementation method technology, applied in computing, image data processing, instruments, etc., to achieve the effect of broadening application time and space, breaking the dependence of lighting conditions, and accurate and reliable motion estimation results
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[0023] The present invention will be described in further detail below with reference to the drawings and embodiments:
[0024] Such as figure 1 As shown, a method for implementing a visual odometer that combines RGB and Depth information includes the following steps:
[0025] 1) Take time T as the cycle, use Kinect sensor to collect environmental information, and output sequenced RGB image and Depth image;
[0026] 2) According to the order of the time axis, select RGB images in turn And Depth image Depth image Point cloud image converted to 3D pcd format
[0027] 3) For the selected RGB image Carry out brightness, color shift and blur detection to determine the image quality β. Calculate the brightness parameter, color shift parameter and blur degree parameter. If the brightness parameter L=1, the color shift parameter C=1, and the blur degree parameter F=1, the RGB image quality is good, β=1; otherwise the RGB image quality is poor , Β=0;
[0028] 4) According to the judgment ...
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