摘要
针对在地图物体位姿识别中估计惯性测量和视觉轨迹识别繁多和图像位姿边缘精度不精确的情况,提出了一种改进点线视觉惯性测程算法(PL-VIO)。在视觉前端,利用亚像素边缘提取方法对图像边缘角点进行迭代和精度提升,并对提取的角点进行边缘化约束,防止边缘的角点存在亚像素边缘检测越界问题。在视觉后端,为了提高提取精度和减少线特征的重复提取,对LSD提取后的线特征和点特征进行提取优化,在SFM之后对提取的线特征进行线合并,并删除冗余线。基于ROS平台利用EuRoc数据集进行实验,并把得到的实验数据导入到Evo中,利用Evo对实验数据进行分析和轨迹绘制,评定误差参数,实验结果中误差参数的整体减小证明了改进PL-VIO算法的优越性和准确性。
An improved point-line vision inertial measurement algorithm(PL-VIO)is proposed to solve the problem of numerous inertial measurement and visual track identification and imprecise image pose and edge accuracy in map object pose recognition.In the front end of vision,the sub-pixel edge extraction method is used to iterate and improve the accuracy of image edge corners,and the edge constraints are applied to the extracted corners to prevent sub-pixel edge detection from crossing the boundary.In order to improve the extraction accuracy and reduce the repeated extraction of line features at the visual backend,the line features and point features extracted by LSD are extracted and optimized.After SFM,the extracted line features are combined and redundant lines are deleted.Experiments are carried out using EuRoc data set based on ROS platform,and the obtained experimental data are imported into Evo.Evo is used to analyze and plot the experimental data,and the error parameters are evaluated.The overall reduction of error parameters in the experimental results verified the superiority and accuracy of the improved PL-VIO algorithm.
作者
王海芳
李鸣飞
李广宇
崔阳阳
WANG Haifang;LI Mingfei;LI Guangyu;CUI Yangyang(School of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,China.)
出处
《计算机科学》
CSCD
北大核心
2023年第S01期283-287,共5页
Computer Science
基金
国家自然科学基金(61703079)。
关键词
点线视觉惯性测程算法
边缘提取
点和线特征
ROS机器人仿真平台
线合并
Point-line vision inertial range method
Edge extraction
Point and line features
ROS robot simulation platform
Line mergin
作者简介
通信作者:王海芳,born in 1976,Ph. D,associate professor.His main research interests include robot vision and control,hydraulic servo control and component reliability(hfwang0335@126.com)。
