A Visual Tracking and Localization Method Based on Dense Point Cloud and Synthetic View

Abstract

The present invention provides a visual tracking and positioning method based on dense point clouds and synthetic views. The process is as follows: use three-dimensional scanning of the real scene to obtain color key frame images and corresponding depth images, and perform image repair on the key frame images. Image encoding; image encoding is performed on the current frame image acquired by the camera in real time, and a composite image with the closest coding distance to the current frame image is selected as the reference frame image of the current image; a stable set of matching feature points on the two images is obtained, and Perform processing to obtain the six-degree-of-freedom pose information of the current frame camera relative to the 3D scanning point cloud coordinate system; use the optical flow algorithm to judge, if the requirements cannot be met, update the current frame image to the next frame image acquired by the camera, and proceed again match. The invention can solve the problem of association between the three-dimensional point cloud acquired by the laser radar and the heterogeneous visual image, and has the effect of realizing rapid initialization and positioning of the visual navigation.

Description

technical field [0001] The invention belongs to the field of information technology, and in particular relates to a visual tracking and positioning method based on dense point clouds and synthetic views. Background technique [0002] Visual real-time tracking and positioning of large-scale outdoor scenes has always been an important research direction in the field of computer vision. Outdoor complex and changeable environmental factors, such as lighting, viewing angle, occlusion, weak texture, and objects moving over time, all have a greater impact on the accuracy and robustness of the visual tracking and positioning algorithm. Outdoor combat scenes such as deserts, grasslands, and mountains have a large area and the scene texture information is not rich, which poses higher technical challenges to the visual tracking and positioning algorithm. At present, the commonly used outdoor large scene visual tracking and positioning algorithm is the SLAM (real-time positioning and m...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the defects of the prior art, in order to solve the problem of the association between laser radar three-dimensional scanning data and image data, so that it can be used for visual tracking and positioning, and propose a visual tracking based on dense point cloud and synthetic view positioning method

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