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Online luminosity calibration method based on direct method monocular SLAM

A calibration method, direct method technology, applied in image data processing, instrumentation, calculation, etc.

Pending Publication Date: 2020-08-18
DONGHUA UNIV
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Problems solved by technology

[0004] Since the direct method adopts the gray-scale invariant assumption, that is, the pixels corresponding to the same spatial point in different images should have the same pixel gray value, however, in practice, the camera may automatically change the exposure parameters to obtain a more suitable for human viewing. image, and there are factors such as vignetting attenuation in the camera that affect the assumption of gray invariance, so it is necessary to perform photometric calibration on the image

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  • Online luminosity calibration method based on direct method monocular SLAM
  • Online luminosity calibration method based on direct method monocular SLAM
  • Online luminosity calibration method based on direct method monocular SLAM

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[0049] Below in conjunction with specific embodiment, further illustrate the present invention. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

[0050] like figure 1 As shown, an online photometric calibration method based on direct method monocular SLAM disclosed in this embodiment includes the following steps:

[0051] Step 1: Receive the image frame to be processed by the direct method monocular SLAM, and use the feature point tracking algorithm to track the initial M 0 Frame image sequence for feature point tracking.

[0052] The feature point tracking algorithm ...

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Abstract

The invention relates to an on-line luminosity calibration method based on direct method monocular SLAM. The method comprises the steps that feature point tracking is conducted on an on-line image sequence, and a luminosity error model is constructed for an initial frame image to obtain initial optimization parameters; the initial optimization parameters are written into an online parameter database, an online luminosity error model for an online frame window is subsequently constructed according to the online parameter database to perform online luminosity calibration, and meanwhile, parameter updating is performed on the online parameter database in the background. According to the method, online luminosity calibration is carried out on the online image sequence, the luminosity calibration effect is more accurate and robust, and the performance of the direct method monocular SLAM can be remarkably improved.

Description

technical field [0001] The invention relates to the technical field of simultaneous positioning and map construction of robots, in particular to an online photometric calibration method based on direct method monocular SLAM. Background technique [0002] Simultaneous Localization and Mapping (SLAM) technology based on vision can be divided into three technical routes: monocular camera, binocular camera and RGBD camera according to different types of sensors. Since the real scale factor of the scene cannot be obtained from a single image, the monocular SLAM algorithm is relatively more complicated. But at the same time, compared with binocular cameras and RGBD cameras, monocular cameras have the advantages of simple structure and low cost, and can be used for mobile robot positioning and map construction, with great potential for practical applications. [0003] Monocular SLAM technology can be divided into feature point method and direct method. The pose estimation of the ...

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Application Information

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IPC IPC(8): G06T7/80G06T7/246G06T7/269
CPCG06T7/80G06T7/248G06T7/269G06T2207/10016Y02T10/40
Inventor 刘华山夏玮梁健程新应丰糠蔡明军陈荣川李祥健江荣鑫
Owner DONGHUA UNIV
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