摘要
以单目视觉中双视图定位为基础,提出了一种基于单目视频路径的导航方法。算法基于单目摄像机提取一组有序的关键图像,以代表视频路径,使用Harris角点算法提取图像特征点,利用零均值归一化互相关算法进行图像匹配,根据单目摄像机双视图匹配点之间的约束关系求出基础矩阵并优化,得到位姿参数,完成了移动机器人定位,使其在视频路径的指导下实现自主导航。验证表明:方法在室外环境中具有较好的实用性。
A navigation method based on monocular video path is proposed on the basis of double-view localization in monocular vision. The video path is expressed by a set of ordered key images extracted from monocular camera. The image feature points are extracted by adopting Harris corner algorithm,and the zero-mean normalized cross-correlation algorithm is used for image matching. According to constraints relationship between the matching points in double view based on monocular camera,their basic matrix can be obtained and optimized,and the pose parameters of the points can be derived,localization of mobile robot can be realized,and it can be navigated under the guidance of video path. The proposed navigation method is verified,which proves that it has good practicability in outdoor environment.
出处
《传感器与微系统》
CSCD
2018年第2期32-35,共4页
Transducer and Microsystem Technologies
基金
国家自然科学基金委-民航联合基金资助项目(U1433106)
2016年度河南省科技攻关计划资助项目(162102210162)
关键词
移动机器人
视频路径
双视图
定位导航
mobile robot
video path
double view
positioning and navigation
