Measurement method of visual odometer, and visual odometer

A technology of visual odometer and measurement method, applied in computing, image data processing, instruments, etc., can solve problems such as poor accuracy and robustness, increased state uncertainty, and increased computing time

Inactive Publication Date: 2018-11-20
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology

[0004] This filter-based method can only be used in small scenes. For large map scenes, the calculation time will increase sharply because the dimension of the feature vector is too large, so that real-time performance canno

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  • Measurement method of visual odometer, and visual odometer
  • Measurement method of visual odometer, and visual odometer
  • Measurement method of visual odometer, and visual odometer

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Embodiment Construction

[0043] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0044] In the following description, many specific details are set forth in order to fully understand the present invention, and the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understo...

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Abstract

The invention provides a measurement method of a visual odometer, and the visual odometer. The measurement method of the visual odometer comprises the following steps: acquiring an image sequence of aphotographing object; measuring angular velocity and accelerated velocity of a carrier; using an ORB algorithm, selecting a plurality of key frames from the image sequence; using a non-linear numerical value optimization method, performing optimization operations for reprojection error among the plurality of the key frames and motion model error of the carrier, calculating out posture informationof the carrier corresponding to that the sum of the reprojection error and the motion model error is minimum, and performing real-time three-dimensional reconstruction. The measurement method of thevisual odometer, and the visual odometer, provided by the invention optimize system motion states through the non-linear numerical value optimization method, thus, accurate estimation of own pose of the carrier is facilitated, and reconstruction of a scene three-dimensional map can be executed in real time.

Description

technical field [0001] The invention relates to the technical field of robot positioning and navigation, in particular to a measuring method of a visual odometer and the visual odometer. Background technique [0002] This section is intended to provide a background or context to a detailed description of the invention that is recited in the claims. The descriptions herein are not admitted to be prior art by inclusion in this section. [0003] With the continuous development of robot technology, the traditional method of building an environment map and determining the pose of a robot is difficult to meet the requirements of robot computing speed and accuracy. MSCKF is a very classic monocular vision and IMU (Inertialmeasurement unit, inertial measurement unit) fusion algorithm, which performs multi-sensor fusion by using the Kalman filter (KF, KalmanFilter) method. MSCKF adds the image feature information in vision to the feature vector that the system needs to estimate. ...

Claims

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Application Information

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IPC IPC(8): G06T7/246G06T7/50
CPCG06T7/246G06T7/50
Inventor 刘厚德凌勇梁斌姜军王学谦朱晓俊
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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