三维立体混合特征地图的构建

Construction of Three-dimensional Mixed Feature Map

本文介绍了双目视觉的基本原理和空间点重建。利用双目视觉传感器获取了环境特征点的三维坐标，建立起了环境几何特征的立体地图，同时将这些特征角点局域窗口的灰度信息作为图像特征信息一并保存，建立起包含环境几何特征和图像特征的混合地图。

This paper introduces the basic principles of binocular vision and space point reconstruction.Use of binocular vision sensor for the environmental characteristics of three-dimensional coordinates of points,established a three-dimensional geometric features of the environment map,the same time,these features corner windows local gray level information be saved as image feature information,geometric features including built environment and image characteristics of mixed map.