基于折反射全景相机的视觉里程计研究

Research on Visual Odometry Based on Catadioptric Panoramic Camera

为了实现折反射全景相机实时定位,提出了基于特征点法的可以用于折反射全景相机的视觉里程计算法。对折反射全景相机的投影模型重新设计了初始化模块,用于全景相机位姿的初始化。在初始化模块中,提出了适用于折反射全景相机的球面对极几何,通过球面对极几何计算初始化过程中两帧图像间位姿变化关系。为了验证算法鲁棒性和精确度,在相同场景下,将本文算法与使用针孔相机的特征点法的视觉里程计算法进行对比。结果表明,使用折反射全景相机的情况下,室外场景和室内场景下视觉里程计精度分别比针孔相机算法提升了38%和50%。

In order to realize the real-time positioning of the catadioptric panoramic camera,a visual odometry method based on the feature point method that can be applied to the catadioptric panoramic camera was proposed.the initialization module for the projection model of the catadioptric panoramic camera was designed for the initialization of the camera pose.In the initialization module,a spherical epipolar geometry suitable for catadioptric panoramic cameras was proposed,and the posture change relationship between two frames of images during the initialization process was calculated through the spherical epipolar geometry.In order to verify the robustness and accuracy of the algorithm,in the same scene,the algorithm in this paper was compared with the visual mileage calculation method using the feature point method of the pinhole camera.The results show that,in the case of using catadioptric panoramic camera,the accuracy of visual odometry in outdoor scenes and indoor scenes improves by 38%and 50%.