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Real-time high-precision visual mileage calculation method

A visual odometry, high-precision technology, applied in the engineering field, can solve the problems of the RANSAC algorithm looking for interior points longer, affecting the accuracy of the solution, and increasing the accumulation of errors.

Inactive Publication Date: 2018-09-14
BEIHANG UNIV
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Problems solved by technology

However, the probability of matching errors in one-way matching is high, and errors in any one of the closed loops will cause errors in the entire closed loop, affecting the accuracy of the solution, and making the RANSAC algorithm look for interior points longer and unable to meet real-time performance; the objective function only Consider the reprojection error, ignoring the information of the front and rear frames, resulting in the error gradually accumulating and increasing

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Embodiment Construction

[0041] Below in conjunction with accompanying drawing and example further illustrate the application method of technical invention

[0042] (1) Use HARRIS corner detection method for corner detection:

[0043] The corner point extraction data uses the data sequence 0 in the KITTI dataset, the image resolution is 1241×376, and the sampling frequency is 10Hz. The parameter k is set to 0.04, r is set to 0.1, and the corner points in the image can be obtained after block HARRIS corner detection.

[0044] (2) Construct the descriptor of HARRIS corner:

[0045] According to the obtained position information of each corner point, the normalized descriptor of the corner point is calculated.

[0046] (3) Closed-loop matching under corner cross-check:

[0047] ① The corner points in the left and right stereo image pairs are matched under the cross-check according to the absolute error sum between the descriptors;

[0048] ②According to the mileage information of the previous frame, ...

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Abstract

The invention relates to a real-time high-precision visual mileage calculation method. According to the method, the mileage information of a system is acquired in real time by means of a closed-loop corner matching strategy under cross-check and the objective function weight setting based on a corner life cycle. The method comprises the following steps: (1) obtaining corner positions in stereo image pairs by partitioning HARRIS corner detection; (2) obtaining a normalized descriptor of corners according to pixel information around the corners; (3) carrying out corner cross-check matching on stereo image pairs, and then performing closed-loop detection on the corners between the stereo image pairs and the front and back image pairs so as to obtain a matching corner set; (4) constructing anobjective function based on the re-projection error of the matching corner set, and setting a weight according to the corner life cycle; (5) solving the mileage information by means of a RANSAC algorithm and a Gauss Newton method. The method provided by the invention has the advantages that the high-accuracy matching corner set is obtained, the interior point selection time of the RANSAC algorithmis shortened, and the real-time mileage information calculation can be realized.

Description

technical field [0001] The invention relates to a real-time high-precision visual odometer method, which is suitable for mileage calculation for an automatic driving system and a robot navigation system, and belongs to the technical field of engineering. Background technique [0002] Intelligent mobile robot is one of the most active fields in the direction of artificial intelligence development, and has received extensive attention from research institutions in various countries. With the improvement of hardware performance and the improvement of software system, mobile robots have been successfully used in industries such as industry, agriculture, and medical treatment. As one of the most basic systems, the odometer is used for robot navigation and positioning, and is the basis and premise for the robot to complete other tasks. The general design requirements of its structure are: fast speed, high precision, and low cost, to meet the needs of real-time precise positioning...

Claims

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Application Information

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IPC IPC(8): G01C22/00
CPCG01C22/00
Inventor 尹继豪范维思袁丁朱红梅李文越
Owner BEIHANG UNIV
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