基于RGB-D影像的巡视器空间定位方法、设备及介质

By employing a spatial positioning method for rovers based on RGB-D imagery, feature points are extracted from RGB-D data, and the pose is optimized using incremental bundle adjustment. This solves the problems of cumbersome positioning calculations and low accuracy in extraterrestrial environments, achieving high-precision positioning results.

CN118941627BActive Publication Date: 2026-07-17TONGJI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
TONGJI UNIV
Filing Date
2024-06-20
Publication Date
2026-07-17

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Abstract

本发明涉及一种基于RGB‑D影像的巡视器空间定位方法、设备及介质，该方法包括：从RGB‑D数据获取序列RGB影像和深度图信息；从RGB影像提取特征点，对特征点进行分布均匀化处理，基于相机模型结合深度图信息计算特征点三维坐标；对相邻帧影像进行特征点提取，基于描述子与灰度信息计算得到相邻帧提取特征点的跟踪匹配结果，对跟踪匹配结果进行误匹配剔除以及跟踪点对分布均匀化处理；根据特征点三维坐标和相邻帧影像的跟踪匹配结果计算相对位姿变换结果，并通过基于二次优化的递增式光束法平差方法对各影像的位姿估计结果进行优化。与现有技术相比，本发明具有定位精度高的优点。
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