轮式机器人三自由度视觉里程计研究
Research on 3-DOF visual odometer for wheeled robot
李少波,巩泽辉,崔桂梅,任彦
( 内蒙古科技大学 信息工程学院,内蒙古 包头 014010)
摘 要: 针对平面运动轮式机器人的二维运动特点,对视觉里程计进行降维处理,使用汉明距与等高约束条件相结合,滤除误匹配特征点对与彩色图匹配正确但深度图误差较大的匹配特征点对,降维处理后使用二维ICP算法进行相机帧间运动估计,通过实验进行验证,可有效地提高平面运动轮式机器人视觉里程计的运算速度与计算精度。
关键词: 视觉里程计; 轮式机器人; 等高约束; SLAM
DOI: 10.16559 /j.cnki.2095 - 2295.2022.03.014
作者:李少波,巩泽辉,崔桂梅,任彦
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