A real-time dynamic registration method and storage medium suitable for rgbd-slam
A real-time dynamic and consistent technology, applied in image analysis, image enhancement, instruments, etc., can solve the problems of unguaranteed registration accuracy, easy to be affected by noise, unfavorable real-time registration, etc., to achieve real-time registration and accurate The effect of registration and convenience of life
Active Publication Date: 2021-11-30
NANJING HUAJIE IMI TECH CO LTD
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This method has the following disadvantages: on the one hand, the analysis process in the connected domain of this patent is complicated, which is not conducive to real-time registration; on the other hand, the method only performs binary segmentation on the image, which is easily affected by noise, and the segmentation accuracy is not high , so the registration accuracy cannot be guaranteed
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[0040] The technical solution will be described in detail below through a preferred embodiment and in conjunction with the accompanying drawings.
[0041] Such as figure 1 As shown, this embodiment provides a real-time dynamic registration method suitable for RGBD-SLAM and a machine-readable storage medium storing instructions of the method, including image preprocessing and image registration:
[0042] (1) Image preprocessing
[0043] RGBD-SLAM calculates the orientation of the camera in an unknown environment through the captured video information, and constructs an environmental map at the same time. Since the grayscale and gradient information of heterogeneous images are significantly different, and the contrast is different, in order to achieve dynamic registration in real-time video information, the color image and infrared image must first be processed to obtain an edge information image with superior effect for matching . That is to detect the edge information of t...
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The invention discloses a real-time dynamic registration method suitable for RGBD-SLAM and a machine-readable storage medium. On the SLAM based on the depth camera, according to each frame of infrared image and color image provided by the TOF and the camera, phase consistency is used. Extract the edge, then use the block strategy to calculate the normalized cross-correlation, get the best matching pair, and calculate the offset, so as to realize the precise registration of the infrared image and the color image. The present invention not only can realize real-time registration, but also has accurate registration results, can guide the operation of SLAM more correctly, can bring better AR experience to users, and is more convenient for people's lives.
Description
technical field [0001] The invention relates to an image processing method of SLAM, in particular to a real-time dynamic registration method and a machine-readable storage medium suitable for RGBD-SLAM. Background technique [0002] SLAM (simultaneous localization and mapping, simultaneous positioning and map construction) originated in the field of robotics. Its goal is to reconstruct the three-dimensional structure of the environment in real time in an unknown environment and simultaneously position the robot itself. As the core technology of autonomous robots, SLAM has important research significance in robot navigation, control, production and other aspects. Especially in the 21st century, visual SLAM technology centered on visual sensors has undergone significant changes and breakthroughs in theory and methods, and is gradually moving from laboratory research to mature market applications. Early SFM (Structure from Motion) technology was generally processed offline. La...
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IPC IPC(8): G06T7/13G06T7/30G06T7/50G06K9/62
CPCG06T7/13G06T7/30G06T7/50G06T2207/10024G06T2207/10048G06T2207/20056G06T2207/20081G06F18/23213
Inventor 耿志远黄骏周晓军孙赛陶明杜逢博王行李骊盛赞李朔杨淼
Owner NANJING HUAJIE IMI TECH CO LTD