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Template matching vision and inertia combined odometer based on sliding window optimization

A template matching and sliding window technology, applied in the field of navigation, can solve problems such as large amount of calculation, inability to be unstable in care, etc., and achieve the effect of improving robustness, improving real-time positioning, and improving robustness.

Active Publication Date: 2020-10-16
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0004] Purpose of the invention: In order to solve the problems of large amount of calculation and the inability to work in an unstable scene in the prior art, the present invention provides a template matching visual and inertial combined odometer based on sliding window optimization

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  • Template matching vision and inertia combined odometer based on sliding window optimization
  • Template matching vision and inertia combined odometer based on sliding window optimization
  • Template matching vision and inertia combined odometer based on sliding window optimization

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Embodiment Construction

[0032] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention.

[0033] Such as figure 1 As shown, this embodiment provides a template matching visual and inertial odometry based on sliding window optimization. The visual part calculates the visual residual through the template matching algorithm, and the IMU part obtains the inertial residual through pre-integration calculation. The backend calculates an optimal pose estimation value through the L-M algorithm, so that the sum of the visual residual and the inertial residual is the smallest. Specifically:

[0034] Step 1: Install the sensor and initialize the external parameters. A top-down monocular camera VO and an inertial sensor IMU are installed on the carrier platfo...

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Abstract

The invention discloses a template matching vision and inertia combined odometer based on sliding window optimization. The method comprises the steps of: installing a VO and an IMU on a carrier, and correcting a non-metric trajectory measured by the VO according to a metric trajectory measured by the IMU to obtain a scale factor of a monocular VO; conducting affine transformation and template matching on the image collected by the VO to obtain a visual residual based on the VO observed quantity; pre-integrating the IMU measured value to obtain an inertial residual based on the VO observed quantity; establishing a sliding window, judging whether the current frame has enough motion or not, if so, adding the current frame into the sliding window for optimization, and marginalizing an earliestframe in the window, otherwise, directly removing the current frame from the sliding window; and solving a nonlinear least square equation of the sliding window to obtain optimal estimated values ofthe position, the speed and the attitude of the carrier. According to the invention, the positioning real-time performance of the combined odometer is effectively improved, and the robustness is better.

Description

technical field [0001] The invention belongs to the technical field of navigation. Background technique [0002] Due to the good complementary characteristics of visual odometry (VO) and inertial measurement unit (IMU), more and more navigation systems use visual and inertial fusion solutions for positioning, which have achieved good results in a large number of scenarios. The visual front-end is the most critical module in the VO / IMU combined positioning system. If the visual front-end cannot track the image well, the positioning effect will drop a lot. The current visual front-end is very dependent on the surrounding environment and is easily affected by factors such as illumination changes, occluders, and fast motion. Therefore, improving the robustness of the visual front-end is the key to accurate positioning of the integrated navigation system. [0003] At present, the commonly used visual front end usually uses the feature point method or the optical flow method for ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C22/00G06K9/62
CPCG01C22/00G06V10/751G06F18/22
Inventor 高唱曾庆喜吕查德阚宇超
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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