A low dynamic carrier speed calculation method based on fusion optical flow and SIFT feature point matching in the environment of uneven light intensity distribution

Abstract

The invention discloses a low-dynamic carrier speed calculation method of fusion optical flow and SIFT feature point matching under the environment of uneven light intensity distribution. The dynamic image of the carrier is collected by the vehicle-mounted camera installed on the mobile carrier, and the pyramid Lucas- The Kanade optical flow and SIFT feature point matching algorithms detect and match the feature points in the current frame and the next frame of the image respectively, and then calculate the coordinates of the carrier according to the pixel displacements corresponding to several pairs of feature points that are successfully matched. The speed under the system V 光流 , V SIFT , and input the difference ΔV and the acceleration difference Δa into the improved adaptive Kalman filter, and the carrier velocity V calculated by the optical flow method SIFT Make a direct correction. The invention obtains the speed with high precision and fast speed, which significantly improves the estimation accuracy and real-time performance of the low dynamic carrier speed.

Description

technical field [0001] The invention relates to the field of computer image processing, in particular to the design of a higher-precision mobile carrier speed obtained by fusing optical flow and SIFT feature point matching methods, and is suitable for visual-assisted navigation of mobile robots. Background technique [0002] At present, there are two main methods to obtain the speed of the mobile carrier, one is to use the traditional code wheel, and the other is the method based on vision. Compared with the traditional code disc method, the method of using the visual method to obtain the speed of the mobile carrier will not be affected by the side slip of the wheels, and there will be no drift in the result when the car body is not moving. In recent years, vision-based methods for measuring the velocity of low-dynamic moving vehicles have gradually become an important option. However, a single method based on visual measurement of speed cannot meet the requirements of real...

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Problems solved by technology

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention proposes a fusion optical flow in an environment with uneven light intensity distribution that improves the accuracy and real-time performance of solving problems without increasing the cost and other problems. Calculation Method of Low Dynamic Carrier Velocity Matched with SIFT Feature Points

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