New feature matching and relative positioning method considering space inverse projection constraints
A technology of feature matching and back projection, which is applied in the field of visual navigation and positioning, and can solve the problems that the patrol is difficult to achieve its own positioning, the positioning accuracy is not high, and the fault tolerance is poor.
Active Publication Date: 2020-11-06
中国人民解放军63920部队
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[0005] In view of the above defects in the prior art, the purpose of the present invention is to provide a new feature matching and relative positioning method considering the constraints of space back projection, so as to solve the problem that it is difficult for the patrol to realize its own positioning in an unknown environment, and the positioning accuracy is not high. Poor fault tolerance and positioning accuracy are easily affected by road conditions
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[0093] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0094] figure 1 It shows a flow chart of a new feature matching and relative positioning method considering spatial backprojection constraints in this embodiment, which shows each step of the inventive method, and gives the logical relationship before and after each step is executed. The implementation of each step will be described in detail below.
[0095] In this embodiment, the extraterrestrial probe is specifically a lunar probe, and the land surface image that can be captured by the camera system of the patrol device is the lunar surface image, and the land surface observation point is the lunar surface observation point.
[0096] Step S1: Take the starting position of the rover as the...
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The invention provides a new feature matching and relative positioning method considering space inverse projection constraints, and belongs to the technical field of visual navigation and positioning.The method comprises the following steps: shooting feature points extracted from land surface images by using a binocular camera in the advancing process of stations before and after an unknown environment by using an inspector of an extraterrestrial celestial body detector, and reversely calculating a feature light beam distance corresponding to each pair of feature points extracted from the images of the stations before and after the unknown environment by using a perspective projection transformation model; according to the characteristic light beam distance constraint and the traditionalcharacteristic point descriptor similarity constraint, establishing a new characteristic matching model of image matching and adjustment positioning cross combination; and according to the correct matching point pair determined by the new feature matching model, solving the position and attitude of the patrolling device at the new site through bundle adjustment. According to the invention, the positioning model and the feature registration are fused, mutual constraint of the positioning precision and the matching accuracy is realized, and the feature registration rate and the positioning precision are improved, so that high-precision attitude determination and positioning of the patrolling device are realized.
Description
technical field [0001] The invention belongs to the technical field of visual navigation and positioning, and in particular relates to a new feature matching and relative positioning method considering space back projection constraints. Background technique [0002] The lunar surface patrol device is a mobile robot that performs close-range scientific exploration tasks in the complex and unstructured lunar surface environment. It can autonomously patrol the lunar surface or operate within hundreds of meters or even hundreds of kilometers of the lunar surface according to the command of the ground teleoperation center. , Realize the detection of the lunar surface environment through the scientific instruments carried by itself. In the process of autonomous cruising or remote control driving, the rover needs to know its own position and direction in the lunar surface coordinate system in order to unify its reconstructed lunar surface terrain under the same benchmark and guide ...
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Login to View More IPC IPC(8): G06T7/73G06T7/33G06K9/62G06K9/46G06F17/16
CPCG06T7/73G06T7/344G06F17/16G06V10/462G06F18/22
Inventor 刘传凯李东升杨旭王晓雪袁春强于天一张济韬崔金
Owner 中国人民解放军63920部队