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智能车辆视觉里程计算法研究进展 被引量：10

A Review of Visual Odometry for Intelligent Vehicles
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摘要 对智能车辆视觉里程计算法进行了综述,首先说明了视觉里程计的基本原理,然后从所使用的信息特征、相机配置、两帧或多帧计算框架等方面对视觉里程计系统进行了分类与比较,其次详细介绍了视觉里程计算法中的关键技术问题,包括特征选择与匹配、鲁棒运动估计等,最后讨论了视觉里程计未来发展方向。 Algorithms of the visual odometry for intelligent vehicles are reviewed.Firstly,the basic principle of the visual odometry is introduced.Secondly,the classification and comparison are made according to types of visual information,the configuration of cameras and the calculation framework.Thirdly,the key techniques including feature selection and matching,robust motion estimation in two-frame visual odometry system are analyzed.Finally the development trends of the visual odometry algorithms are discussed.
作者 江燕华 熊光明 姜岩 龚建伟 陈慧岩
机构地区 北京理工大学机械与车辆学院
出处 《兵工学报》 EI CAS CSCD 北大核心 2012年第2期214-220,共7页 Acta Armamentarii
基金 国家自然科学基金项目(90920304) 北京理工大学科研基地科技支撑计划
关键词 信息处理技术 智能车辆 视觉里程计 运动估计 information processing intelligent vehicles visual odometry motion estimation
分类号 TP212.1 [自动化与计算机技术—检测技术与自动化装置]
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参考文献61

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二级参考文献22

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共引文献20

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引证文献10

二级引证文献58

兵工学报
2012年 第2期

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