A method to improve the reliability of monocular vision localization through environment model integrity assessment

An environment model, monocular vision technology, applied in the direction of navigation calculation tools, etc., can solve the problem that the correct matching of feature points is difficult to achieve, and achieve the effect of improving reliability and accuracy.

Active Publication Date: 2022-07-01
GUANGDONG UNIV OF TECH
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  • Abstract
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Problems solved by technology

[0004] However, in the data matching problem, due to the uncertainty of feature point descriptors in the face of viewing angle changes, illumination changes, etc., it is difficult to achieve the correct matching of feature points.

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  • A method to improve the reliability of monocular vision localization through environment model integrity assessment
  • A method to improve the reliability of monocular vision localization through environment model integrity assessment
  • A method to improve the reliability of monocular vision localization through environment model integrity assessment

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Embodiment Construction

[0040] Below in conjunction with specific embodiment, the present invention will be further described:

[0041] see figure 1 As shown, a method for improving the reliability of monocular vision positioning by evaluating the integrity of an environment model described in this embodiment firstly establishes an environment expression model; then evaluates the integrity of the established environment expression model; uses the integrity evaluation As a result, the completion of environmental modeling is judged, and the exploration is stopped only when the requirements are met.

[0042] Specifically, the established model is expressed in the topological form of a graph; wherein the nodes of the graph represent the collected images; the edges in the graph express the relative relationship of the existing nodes; each node corresponds to one collected image in the established model; The establishment of the edge is calculated by the pixel data association of the image corresponding t...

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Abstract

The invention discloses a method for improving the reliability of monocular visual positioning by evaluating the integrity of an environment model. First, an environment expression model is established; then the established environment expression model is evaluated for integrity; The completion of environmental modeling is judged, and the exploration is stopped when the requirements are met, thereby improving the integrity of the final environmental model data. The present invention improves the probability of correct data association under the environment model through a model with abundant environmental data, thereby improving the reliability of monocular vision positioning.

Description

technical field [0001] The present invention relates to the technical field of robot vision positioning, in particular to a method for improving the reliability of monocular vision positioning by evaluating the integrity of an environment model. Background technique [0002] Using monocular vision to achieve localization in the existing environment model is an important part of mobile robots to achieve visual navigation. In the problem of visual navigation, it is crucial to obtain real-time localization of mobile robots. [0003] The current monocular vision positioning scheme often uses the matching of feature points and feature point descriptors to realize the visual positioning of mobile robots. [0004] However, in the data matching problem, due to the uncertainty of feature point descriptors in the face of changes in viewing angle and illumination, it is difficult to achieve the correct matching of feature points. SUMMARY OF THE INVENTION [0005] The purpose of the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
Inventor 张宏陈炜楠朱蕾何力管贻生
Owner GUANGDONG UNIV OF TECH
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