Visual course identification method based on target point identification

A recognition method and target point technology, applied in character and pattern recognition, image data processing, instruments, etc., can solve problems such as increased cost and inability to guarantee system reliability, and achieve improved accuracy, simple static calibration, and accurate positioning. Effect
CN106529587AInactive Publication Date: 2017-03-22BEIHANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
BEIHANG UNIV
Publication Date
2017-03-22
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a visual course identification method based on a target point identification. The method comprises a step of loading an azimuth angle and pixel correspondence table obtained through camera calibration, selecting an initial target point in a first frame image, extracting and describing SURF characteristic points in first and second interest regions, and storing the frame image as a first reference image, a step of adjusting the position and size of an interest region in a collected next frame image, carrying out characteristic matching with the reference image, screen an ideal coplanar characteristic point, calculating a homography matrix, and identifying the current position of the target point, a step of updating the current frame image as the reference image when a reference image updating condition is satisfied, screening a stable ideal coplanar feature points set which is in accordance with affine transformation and is in a infinite plane, and correcting homography matrix and target point positions, and a step of finally identifying a target point corresponding course according to the azimuth angle and pixel correspondence table.
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Description

technical field

[0001] The invention relates to a visual heading recognition method based on target point recognition, and belongs to the technical field of visual / inertial combined navigation. Background technique

[0002] The navigation system plays an important role in the complex motion of autonomous mobile robots. The integrated navigation system, which is composed of basic navigation technologies such as vision, inertia, GPS and GPS-like systems, ranging and direction recognition, has been extensively researched and developed.

[0003] Visual navigation and inertial navigation are typical independent navigation systems. They can provide reliable navigation services without the help of external conditions, especially when GPS is unavailable and other complicated situations. The instant localization and mapping (SLAM) algorithm is currently the most commonly used algorithm for localization and navigation of autonomous mobile robots. Based on a large number of matchable...

Claims

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