一种改进的视觉罗盘姿态测量方法

Montiel等人提出的“视觉罗盘”是一种以摄像机为唯一传感器,基于EKF-SLAM的姿态测量方法.在摄像机旋转不平滑时需要提高运动模型中系统噪声的先验方差设定值,但是会导致匹配计算量增大和匹配错误发生率升高.针对上述问题,本文给出一种改进的视觉罗盘姿态测量方法.该方法首先使用多分辨率路标选取策略初始化新路标,然后使用...

A Modified Visual Compass Attitude Estimation Method

The visual compass proposed by Montiel et al.is an attitude estimation method based on EKF-SLAM that using camera as the only sensor.When camera rotation is unsmooth,a priori system noise covariance in motion model should be set to a large value,but it results in high computational cost for matching and high rate of matching error occurrence.Focusing on those problems,a modified visual compass attitude estimation method is presented.First,a multi-resolution landmark selection strategy is used for new landmark initialization.Then,an active search/match layer by layer algorithm is used to reduce both the computational cost and the rate of error occurrence.Finally,a RANSAC algorithm sampling 2 matched points is used to remove the outliers in matching result.The modified visual compass attitude estimation method is applied to the outdoor video,and the experimental results shows that the modified method has advantage of less computational cost and improved accuracy of attitude estimation.