融合视觉的智能车组合导航技术分析

Analysis on integrated navigation technology for intelligent vehicles by integrating vision

为了进一步研究无人驾驶智能车辆的导航定位技术,对视觉里程计技术在车载组合导航系统中的应用进行综述:首先对视觉里程计的原理进行概述;然后较为完整地分析了融合视觉里程计的车载组合导航系统的3个主要研究方向:视觉里程计与惯导系统组合、视觉里程计与卫星导航系统组合,以及融合视觉里程计的多传感器组合导航系统;最后对视觉里程计技术在智能车组合导航系统中的发展进行展望。

In order to further study on the navigation and positioning technology for self-driving intelligent vehicles, the paper analyzed the application of the visual odometry in vehicle integrated navigation system： the principle of the visual odometry was introduced; and the three main research directions of the vehicle integrated navigation system based on the visual odometry were expounded, as INS/VO, GNSS/VO and multi-sensor system; finally the development of the visual odometry in the intelligent vehicle integrated navigation system was prospected