车载视频图像序列卡尔曼滤波及其移动量测应用

Vehicle-loaded video image sequences Kalman filtering with its application in mobile survey

提出了一种基于特征对应和扩展卡尔曼滤波的运动与结构重建方法,对运动与结构重建在车载视频移动量测中的应用问题进行了分析研究,结合立体视频量测技术,在移动量测系统中对该方法进行了检验。结果表明,文中方法正确可行,精度较高,抗噪性能好,具有很好的移动量测应用价值。

This paper deduces and implements a SFM method based on feature-correspondence and Kalman-filter firstly.Then it analyzes the application of SFM in vehicle-loaded video-based mobile survey.Finally,the authors testify the method in Mobile Mapping System(MMS) with stereo video survey.The experiment results show that this method is right,accurate and noise-resistant,and has a great value in mobile survey application.