Method for improving visual milemeter system robustness and reducing algorithm calculation consumption

A technology of visual odometry and system robustness, which is applied in the field of improving the robustness of visual odometry systems and reducing the computational consumption of algorithms

Active Publication Date: 2018-10-02
浙江大承机器人科技有限公司
View PDF5 Cites 18 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The technical problem to be solved by the present invention is: aiming at the problems existing in the existing VO method, a VO system combining the semi-direct method and the indirect method is proposed, and a method for improving the robustness of the visual odometer system and reducing the calculation consumption of the algorithm is provided , a real-time map construction and self-positioning system based on image sensors (monocular, binocular or multi-purpose, the purpose refers to the number of cameras in the VO system, for example, monocular means that there is only one camera in the VO system), the system realizes Accurate and robust composition and positioning while reducing system computing resource consumption

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for improving visual milemeter system robustness and reducing algorithm calculation consumption

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] In this embodiment, the vehicle-mounted binocular system of the robot is taken as an example, and it is assumed that the binocular system and the calibration between the binocular system and the robot have been performed. Turn on the system and keep the robot in motion.

[0049] The map of the present invention includes a set of key frames Set with 3D points N k , N M represent the number of elements in the two sets, respectively. K 1 Represents a set of keyframes Set K In the first keyframe, Represents a set of keyframes Set K Nth in k keyframes, K ik Represents a set of keyframes Set K The ikth keyframe in the keyframe K ik contains {I,T wc ,Set F}, including the image I collected by the camera at time ik, and the camera pose T wc (contains the 3×3 rotation matrix R wc and a 3×1 translation matrix t wc ) and with N f feature set of elements f i ={x i ,y i ,s i ,D i ,m i}, where x i ,y i Indicates the coordinates of the i-th feature poin...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a method for improving visual milemeter system robustness and reducing algorithm calculation consumption. The method comprises the following steps of 1, acquiring an image by means of the visual milemeter system through an image sensor, acquiring a frame p and initializing an MatchBufp to an empty set; 2, determining whether an MatchBufp-1 is empty, if yes, setting a camerapose Twc to 0, executing a step 6, and otherwise, executing a step 3; 3, calculating a relative pose Tlc between the frame p-1 and the frame p; 4, calculating a camera pose Twcp of the frame p in a map, and constructing the MatchBufp; 5, updating a FilterBuf, and determining the whether the frame p is a key frame; 6, constructing a new key frame Knew, and adding into SetK; and 7, initializing thenew three-dimensional point by means of characteristic matching. A real-time map construction and self-positioning system based on the image sensor has advantages of realizing accurate and robust composition and positioning, and reducing system calculation resource consumption.

Description

technical field [0001] The invention relates to the technical field of motion estimation based on vision, in particular to a method for improving the robustness of a visual odometer system and reducing algorithm calculation consumption. Background technique [0002] VO (Visual Odometry) system is a system that uses image sensors as information collection tools for real-time map construction and self-positioning. VO refers to visual odometry. The goal of visual odometry VO is to estimate the motion of the camera based on the captured images, and to determine the orientation and position of the robot by analyzing a series of image sequences. Visual odometry VO is mainly used for positioning and navigation of mobile robots. [0003] VO systems can be divided into the following three categories according to different principles: [0004] (1) Direct method. There is no need to extract feature points, and usually all pixels or pixels whose gradient value is greater than a certa...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/269B25J19/04
CPCB25J19/04G06T2207/10016G06T7/269G06T7/73
Inventor 张清泉王军南余饶东唐杭生
Owner 浙江大承机器人科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap