Monocular vision odometer positioning method and positioning system based on semi-direct method

A technology of monocular vision and positioning method, which is applied in computing, photo interpretation, computer components, etc., can solve problems such as insufficient robustness, achieve the effects of reducing sensitivity, reducing uncertainty, and accelerating convergence

Active Publication Date: 2018-12-11
CHONGQING UNIV
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Problems solved by technology

However, SVO has insufficient robustne

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  • Monocular vision odometer positioning method and positioning system based on semi-direct method
  • Monocular vision odometer positioning method and positioning system based on semi-direct method
  • Monocular vision odometer positioning method and positioning system based on semi-direct method

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Embodiment Construction

[0024] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0025] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be mechanical connection or electrical connection, or two The internal communication of each element may be directly connected or indirectly connected through an intermediary. Those skilled in the art can understand the specific meanings of the above terms according to specific situations.

[0026] The inventio...

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Abstract

The invention discloses a monocular vision odometer positioning method and a positioning system based on a semi-direct method. The method includes: entering a target scene through a monocular camera and recording scene image data; preprocessing the obtained scene image d and detecting feature points; conducting initialization of the system initializes, tracking the obtained feature points, takingthe tracked feature point pair set as the data set of a robust algorithm, extracting the line features from the scene image, and using the semi-direct method to estimate the pose of the camera; selecting the key frames in the image taken by the camera; performing map construction. The invention realizes a robust and high-quality initialization process. The method selects a key frame to update thedepth information of the three-dimensional feature once when each three-dimensional feature is added to the depth filter for the first time, thereby reducing the uncertainty of the depth information of the new three-dimensional feature and accelerating the convergence of the depth. The reference frame of three-dimensional features is updated to shorten the time interval between the reference frameand the current frame and to reduce the sensitivity to illumination changes.

Description

technical field [0001] The invention belongs to the technical field of visual mileage in three-dimensional reconstruction, and specifically relates to a monocular visual odometer positioning method and a positioning system based on a semi-direct method. Background technique [0002] With the continuous evolution of technologies such as computer vision and image processing in recent years, visual sensors have been applied in more and more scenarios, and odometers based on visual sensors have also attracted more and more researchers' attention. Vision sensors are gradually becoming one of the main sensors for odometer applications due to their low cost and rich information. Compared with SLAM (Simultaneous Localization and Mapping), visual odometry is more efficient and has lower hardware requirements. The traditional wheel odometer mainly calculates the mileage through the rolling of the wheels, but the wheels may slip and spin on rough roads, which will bring large errors t...

Claims

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Application Information

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IPC IPC(8): G06T5/00G06T7/80G06K9/00G01C22/00G01C11/04
CPCG06T5/006G06T7/80G01C11/04G01C22/00G06T2207/30244G06T2207/10016G06V20/46
Inventor 刘骥付立宪唐令周建瓴
Owner CHONGQING UNIV
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