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Method and system for evaluating relative precision confidence coefficient of vehicle-end monocular vision measurement

A technology of monocular vision and relative precision, which is applied in measuring devices, optical devices, image analysis, etc., can solve problems such as vehicle relative pose errors, IMU sensor process errors, etc., to improve accuracy and reliability, and improve data fusion Accuracy, the effect of improving fusion accuracy

Active Publication Date: 2021-02-05
WUHAN ZHONGHAITING DATA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, due to the process error of the IMU sensor and the random noise introduced in the measurement process, there is also a certain error in the relative pose of the vehicle.
The navigation map needs to fuse the relative map with the absolute fixed position information, and the accuracy and reliability of the navigation map will be affected in the case of relative pose errors. evaluation method

Method used

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  • Method and system for evaluating relative precision confidence coefficient of vehicle-end monocular vision measurement

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Embodiment 1

[0046] Embodiment 1 provided by the present invention is an embodiment of a method for evaluating the confidence degree of relative accuracy of monocular vision measurement at the vehicle end provided by the present invention, such as figure 2 Shown is the flow chart of the relative accuracy error propagation of the monocular vision measurement at the vehicle end provided by the embodiment of the present invention, combined with figure 1 and figure 2 As can be seen, this embodiment includes:

[0047] Step 1. Initialize the covariance matrix of the monocular vision system according to the prior knowledge. The covariance matrix includes: the pose covariance C(X k-1 ) and the relative pose covariance C(X (k-1)k ) and feature point matching pixel error covariance matrix C between two frames of images p .

[0048] Step 2, according to the covariance matrix C p and the pose covariance C(X k ) to obtain the position covariance C of the target for position estimation under rel...

Embodiment 2

[0067] Embodiment 2 provided by the present invention is an embodiment of a vehicle end monocular vision measurement relative accuracy confidence evaluation system provided by the present invention, such as Figure 4 Shown is a structural block diagram of an embodiment of a vehicle-end monocular vision measurement relative accuracy confidence evaluation system provided by the present invention, consisting of Figure 4 It can be seen that the system includes: an initialization module 101 , a target location covariance determination module 102 and a confidence degree determination module 103 .

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Abstract

The invention relates to a method and a system for evaluating a relative precision confidence coefficient of vehicle-end monocular vision measurement. The method comprises the steps of: initializing acovariance matrix of a monocular vision system according to the priori knowledge, wherein the covariance matrix comprises a feature point matching pixel error covariance matrix Cp between two framesof images; acquiring a position covariance Cr of targets for position estimation under relative mapping according to the covariance matrix Cp and a pose covariance C(Xk) of a vehicle body relative toa reference point at the current moment; and calculating a relative position covariance matrix between the two targets according to the distance between the two targets and the corresponding positioncovariance Cr, and calculating a relative distance confidence coefficient under an allowable measurement error according to the relative position covariance matrix. On one hand, the problem of targetpositioning error calculation caused by various error sources in relative mapping is solved, and the precision and reliability of a navigation map are guided to be improved; and on the other hand, theproblem of relative mapping information weight estimation in the multi-sensor data fusion process is solved, so that the multi-sensor fusion precision is improved.

Description

technical field [0001] The invention relates to the field of computer vision positioning and mapping, in particular to a method and system for evaluating the relative accuracy confidence of monocular vision measurement at the vehicle end. Background technique [0002] The relative mapping of the monocular vision on the vehicle side refers to the use of the monocular vision sensor installed on the vehicle side, combined with the scale information provided by the IMU (Inertial Measurement Unit, Inertial Measurement Unit) and the vehicle body CAN during the vehicle's forward process, to restore the surrounding environment map of the vehicle in real time the process of. [0003] Compared with traditional environmental mapping that relies on high-precision GNSS sensors, relative mapping has the following two significant advantages: (1) It does not depend on the absolute pose of the vehicle, improving the flexibility and reliability of mapping. During driving, it is often difficu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00G06T7/73G06T7/77
CPCG01B11/00G06T7/74G06T7/77G06T2207/10016G06T2207/20076G06T2207/30252
Inventor 王小亮吴凯辛梓贾腾龙刘奋
Owner WUHAN ZHONGHAITING DATA TECH CO LTD