基于CarSim和Matlab的智能车辆视觉里程计仿真平台设计

基于特征的视觉里程计系统主要由特征检测与跟踪模块以及位姿计算模块两部分组成。为分析车载视觉里程计系统中引入车辆运动学约束的位姿计算算法性能，根据摄像机成像及视觉几何学原理，采用Matlab结合车辆动力学仿真软件CarSim建立车载视觉里程计仿真平台。该仿真平台由车辆运动仿真模块、成像仿真模块、数据显示与分析模块组成，仿真平台的测试对象为视觉里程计的位姿估计算法模块。该仿真平台充分考虑车载视觉定位系统的运动特性，为研究车辆运动学约束在视觉里程计系统中的应用提供新的思路和工具。对提出的一种全新的基于车辆运动学约束的位姿估计内层算法，在此仿真平台上进行性能验证。仿真结果表明，该算法在计算精度与效率上都能够满足实时车载视觉定位的要求。

Design of Simulation Platform of Intelligent Vehicular Visual Odometry Based on CarSim and Matlab

The visual odometry system based on features mainly consists of the feature detection and tracking module and the pose estimation module. In order to analyze the performance of relative pose estimation algorithms which consider vehicular kinematic constraints, a simulation platform of on-board visual odometry is built using Matlab and CarSim software. This simulation platform, which based on imaging principle of cameras and two view geometry, is composed of vehicle motion simulation module, imaging simulation module, data display and analysis module. The testing object is the relative pose estimation module in the visual odometry system. In this simulation system, the characteristics of vehicular motion are fully considered, and novel thoughts and techniques are put forward to research the application of vehicle kinematic constraints in the visual odometry system. A novel internal pose estimation algorithm is tested on this platform. The experiment results validate the proposed method.