里程计技术发展综述

Summary of the Development of Odometer Technology

里程计是实现载体定位、完成导航任务的重要工具。介绍了里程计的概念及其从纯机械式里程计、机械-电子式里程计、纯电子式里程计至视觉里程计的发展历程,重点介绍了视觉里程计工作原理,分析了不同里程计的优缺点,并对视觉里程计的间接法、直接法和半直接法进行比较分析。

Odometer is an important tool to realise vehicle positioning and complete navigation.This paper introduces the concept of odometer and its development history from pure mechanical odometer,mechanical-electronic odometer,pure electronic odometer to vi?sual odometer.Their working principle,advantages and disadvantages are discussed.This paper focuses on the working principle of vi?sual odometer and analyzes the indirect method,direct method and semi-direct method of visual odometer.