Binocular vision positioning method, binocular vision positioning apparatus and binocular vision positioning system

A technology of binocular vision positioning and binocular camera, applied in the field of binocular vision positioning method, device and system, can solve the problems of poor real-time performance, estimation, low accuracy of position and attitude estimation, etc., to improve stability, improve real-time performance, The effect of reducing data processing time

Active Publication Date: 2018-03-02
GOERTEK INC
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Problems solved by technology

At present, SLAM mainly uses cameras to collect information, and cameras are easily affected by the environment (such as lights, white walls, desktops, etc.), resulting in the inability to estimate position and attitude.
Moreover, the current back-end data processing algorithms

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  • Binocular vision positioning method, binocular vision positioning apparatus and binocular vision positioning system
  • Binocular vision positioning method, binocular vision positioning apparatus and binocular vision positioning system

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Embodiment Construction

[0029] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention.

[0030] In some processes described in the specification, claims and above-mentioned drawings of the present invention, multiple operations appearing in a specific order are included, and these operations may be performed out of the order in which they appear herein or in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. Additionally, these processes can include more or fewer operations, and these operations can be performed sequentially or in parallel. It should be noted that the descriptions of "first" and "second" in this article a...

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Abstract

The embodiments of the present invention provide a binocular vision positioning method, a binocular vision positioning apparatus and a binocular vision positioning system. The binocular vision positioning method comprises: calculating first pose change information according to the two frames of images collected by a binocular camera unit at two consecutive moments; calculating second pose change information according to the inertia parameters collected by an inertia measurement unit between two successive moments; respectively extracting the matched feature points from the two frames of the images, and calculating the reprojection errors of each feature point; and obtaining the optimized third pose change information for positioning by using the calculation results as the nodes or edges ofa common graph optimization algorithm. The binocular vision positioning system comprises a binocular vision positioning apparatus, a binocular camera unit and an inertial measurement unit, wherein the binocular camera unit and the inertial measurement unit are connected to the binocular vision positioning apparatus, and the left camera and the right camera of the binocular camera unit are symmetrically positioned on both sides of the inertial measurement unit. The technical scheme provided by the embodiments of the present invention can improve the estimation precision and the real-time property of the position posture.

Description

technical field [0001] The present invention relates to the technical field of positioning, in particular to a binocular vision positioning method, device and system. Background technique [0002] Simultaneous Localization And Mapping (SLAM) is an important issue in the field of robotics. At present, it has been widely used in mobile robots, drones, virtual reality and augmented reality and other fields. [0003] At present, SLAM technology is divided into two parts: front-end and back-end. The front-end part is mainly to collect sensor information, and the back-end part is mainly to process sensor information, including position and attitude calculation, position and attitude optimization, loop detection, and image composition. At present, SLAM mainly uses cameras to collect information, and cameras are easily affected by the environment (such as lights, white walls, desktops, etc.), resulting in the inability to estimate position and attitude. Moreover, the back-end dat...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/16G01C21/20
CPCG01C21/005G01C21/20G01C21/1656G06T7/579G06T7/593G06T2207/10021G06T2207/20072G06T2207/30244G01C21/18G05D1/02
Inventor 宋浩冉戴天荣任玉川李舜铭曹进喜
Owner GOERTEK INC
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