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一种地标点修正的高精度双目视觉导航方法

张洋 王新龙

张洋, 王新龙. 一种地标点修正的高精度双目视觉导航方法[J]. 北京航空航天大学学报, 2014, 40(9): 1305-1311. doi: 10.13700/j.bh.1001-5965.2013.0588
引用本文: 张洋, 王新龙. 一种地标点修正的高精度双目视觉导航方法[J]. 北京航空航天大学学报, 2014, 40(9): 1305-1311. doi: 10.13700/j.bh.1001-5965.2013.0588
Zhang Yang, Wang Xinlong. Landmark fixed high-precision binocular visual navigation method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(9): 1305-1311. doi: 10.13700/j.bh.1001-5965.2013.0588(in Chinese)
Citation: Zhang Yang, Wang Xinlong. Landmark fixed high-precision binocular visual navigation method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(9): 1305-1311. doi: 10.13700/j.bh.1001-5965.2013.0588(in Chinese)

一种地标点修正的高精度双目视觉导航方法

doi: 10.13700/j.bh.1001-5965.2013.0588
基金项目: 国家自然科学基金资助项目(61233005,61074157);航空科学基金资助项目(20130151004);卫星应用研究院创新基金资助项目(2012-1517)
详细信息
    作者简介:

    张洋(1990-),男,甘肃天水人,硕士生,zy_38152126@sa.buaa.edu.cn.

  • 中图分类号: V249.32+9

Landmark fixed high-precision binocular visual navigation method

  • 摘要: 自主导航技术是无人机、智能机器人以及智能车辆等技术领域中的一项关键技术。为了克服传统视觉导航方法存在的不足,以摄像机自运动估计为理论基础,提出了一种使用地标点修正的高精度双目视觉导航方法。该方法从连续图像序列的帧间变化中提取摄像机自运动信息,再通过速度、角速度积分求得载体的位置姿态等参数。同时,通过引入地标点提供的绝对定位信息,进一步提高了长时间导航的精度。将地标点绝对定位与双目视觉相对定位相结合,并对双目视觉量测噪声建模和解相关,抑制了单纯使用双目视觉长时间导航时误差的积累发散。仿真结果表明此方法具有精度高、自主性强、导航信息完备等优点。

     

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出版历程
  • 收稿日期:  2013-10-15
  • 刊出日期:  2014-09-20

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