Monocular vision inertia odometer system and monocular vision inertia odometer method

A monocular vision and odometer technology, applied in computing, computer parts, measuring distance, etc., can solve the problems of low positioning accuracy and poor real-time performance, and achieve the requirements of improving real-time performance, reducing processor performance, and improving adaptability and the effect of positioning accuracy

CN110751123AActive Publication Date: 2020-02-04BEIJING MECHANICAL EQUIP INST
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2020-02-04

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Abstract

The invention relates to a monocular vision inertial odometer system and a monocular vision inertial odometer method, and belongs to the field of autonomous navigation control of mobile carriers. Thesystem comprises an inertial navigation module, a monocular vision module, a control module and an attitude output module. The inertial navigation module senses and measures the motion information ofthe carrier, and the monocular vision module obtains the information of the surrounding environment of the carrier through image frames. A preprocessing module in the control module adopts a strapdowninertial navigation algorithm to calculate inertial navigation information of the carrier according to the motion information, and rough matching is carried out on image feature points by utilizing afeature point matching algorithm according to continuous three-frame image information provided by the monocular vision module to obtain a rough matching feature point group; and the REPF filter carries out fine matching on the obtained coarse matching feature point group to obtain an optimal matching point group, and all the optimal matching point groups are used for resolving to obtain attitudeinformation of the carrier. The method has the advantages of scale determination and low calculation complexity, and the navigation precision and real-time performance of the odometer system are improved.
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Description

technical field

[0001] The invention relates to the technical field of autonomous navigation control of mobile carriers, in particular to a monocular visual inertial odometer system and method. Background technique

[0002] In recent years, the odometer system integrated with monocular vision and inertial navigation has been widely used in the field of autonomous navigation control of mobile carriers. Auxiliary navigation and positioning of mobile carriers. Therefore, improving the positioning accuracy and real-time performance of the odometer system is the key to ensure accurate navigation and positioning of mobile carriers.

[0003] At present, the odometer system technical solutions for the fusion of monocular vision and inertial navigation can be divided into two categories: one is that the monocular vision module and the inertial navigation module adopt a loosely coupled fusion method, which makes the monocular vision and inertial navigation modules independent Run, a...

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Embodiment Construction

[0038] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and together with the embodiments of the present invention are used to explain the principle of the present invention and are not intended to limit the scope of the present invention.

[0039] System embodiment:

[0040] A specific embodiment of the present invention discloses a monocular visual inertial odometer system. Such as figure 1 As shown, it includes: inertial navigation module, monocular vision module, control module and attitude output module. The inertial navigation module is used to sense and measure the motion information of the carrier; the monocular vision module is used to obtain the surrounding environment information of the carrier through image frames; the control module includes a preprocessing module and a REPE (RANSAC-Extended Kalman Particle Filter) ...