一种基于人工标志的室内视觉导航方法

An Approach of Indoor Vision Navigation with Artificial Marks

针对具有预设标志点的场景,提出了一种基于影像序列的室内视觉导航方法。首先讨论了编码标志和普通标志进行设计与布设方法,进而根据标志点的结构特征对在实时获取图像上的特征点进行自动提取,然后根据预设标志点的实际位置及其与相应像点坐标,利用物点与像点的透视关系解算摄像机中心的位置和姿态。最后在研究视觉导航的误差来源的基础上,对室内视觉导航精度进行了理论分析。实验结果验证了基于人工标志的室内视觉导航方法的可行性和有效性。

In this paper,an approach of indoor vision navigation based on artificial marks is put forward for the scene with preset mark points.The design and layout of artificial encoded and common marks are discussed.Then the feature points on the images are extracted with the structural features of the mark points.The position and attitude of the camera can be calculat- ed by using the projective relation between the object points and their correspondent image points with the known actual posi- tions of preset mark points and their image coordinates.At last,on the basis of studying on the error resources,accuracy analysis of indoor vision navigation is discussed theoretically.Experiments show that the proposed indoor vision navigation ap- proach with artificial marks is practicable and effective.