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

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...

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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

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