首页 > 最新目录 > 正文

14 轮式机器人三自由度视觉里程计研究

日期:2023-04-10 18:47:37 点击:

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


参考文献:

[1]Pak J M.Visual odometry particle filter for improving accuracy of visual object trackers[J].Electronics Letters, 2020,56( 17);884.

[2]陆建伟,王耀力.基于 ORB-SLAM2 的实时网格地图构 建[J].计算机应用研究,2019,36( 10);3124.

[3]王权,胡越黎,张贺.基于 ROS 与 Kinect 的移动机器人 同时定位与地图构建[J].计算机应用研究,2017,34 ( 10);310.

[4] 朱凯,刘华峰,夏青元.基于单目视觉的同时定位与建 图算法研究综述[J].计算机应用研究,2018,35( 1);1.

[5] 秦晓飞,皮军强,李峰.基于极线约束的 ORB 特征匹配 算法[J].计算机应用研究,2018,35( 9);2865.

[6]Ji B,Cao Q.Real-time monocular 3D perception with ORB-Features[J]Industrial Robot,2018,45( 6);776.

[7]Demiannay N,Besnier N,Thomas C,et al.Design and development of multirotor UAV with automatic collision avoidance using stereo camera[J].INCAS Bulletin,2020, 12( 3);65.

[8]Feng L,Liu Y,Li Z,et al.Discriminative bit sele-ction hashing in RGB-D based object recognition for robot vision[J].Assembly Automation,2019,39( 1);17.

[9] Singh K M.Correction to: A robust rotation resilient video watermarking scheme based on the SIFT[J].Multimedia Tools and Applications,2018,77( 13);16419.

[10]Lee D,Kim H,Jung S.Depth-hybrid speeded-uprobust features ( DH-SURF) for real-time RGB-D SLAM[J].Advances in Robotics Research,2018,2( 1);33.

[11]Jo J H,Moon C B.Development of a practical ICP outlier rejection scheme for draph-based SLAM using a laser range finder[J].Korean Societyfor Precision Engineering,2019,20( 10);1735.

[12]Zamora J C,Fortino G F.Tracking algorithmsfor TPCs using consensus-based robust estimators[J].Nuclear Instruments and Methods in Physics Research Section A: Accelerators,Spectrometers,Detectors and Associated Equipment,2021,988( 2);164899.

[13]Jordan J,Zell A.Ground plane based visual o-dometry for RGBD-Cameras using orthogonal proje-ction[J].IFAC Papers Online,2016,49( 15);1083.

[14]Zamora J C,Fortino G F.Tracking algorithms for TPCs using consensus-based robust estimators[J].Nuclear Instruments and Methods in Physics Research Section A: Accelerators,Spectrometers,Detectors and Associated Equipment,2021,988: 164899.

[15]Jordan J,Zell A.Ground plane based visual odometry for RGBD-Cameras using orthogonal projection[J].IFAC PapersOnLine,2016,49( 15);108.


地址:内蒙古包头市昆都仑区阿尔丁大街7号 邮编:014010 电话:0472-5951610或0472-5953910 Email:cky@imust.edu.cn nkdxb@imust.edu.cn

版权所有:内蒙古科技大学学报编辑部(©2013)