A geometrical analysis based algorithm is proposed to achieve the stereo matching of a single-lens prism based stereovision system. By setting the multi- face prism in frontal position of the static CCD （CM-140MCL） ...A geometrical analysis based algorithm is proposed to achieve the stereo matching of a single-lens prism based stereovision system. By setting the multi- face prism in frontal position of the static CCD （CM-140MCL） camera, equivalent stereo images with different orientations are captured synchronously by virtual cameras which are defined by two boundary lines： the optical axis and CCD camera field of view boundary. Subsequently, the geometrical relationship between the 2D stereo images and corresponding 3D scene is established by employing two fundamentals： ray sketching in which all the pertinent points, lines, and planes are expressed in the 3D camera coordinates and the rule of refraction. Landing on this relationship, the epipolar geometry is thus obtained by fitting a set of corresponding candidate points and thereafter, stereo matching of the prism based stereovision system is obtained. Moreover, the unique geometrical properties of the imaging system allow the proposed method free from the complicated camera calibration procedures and to be easily generalized from binocular and tri-oeular to multi-ocular stereovision systems. The performance of the algorithm is presented through the experiments on the binocular imaging system and the comparison with a conventional projection method demonstrates the efficient assessment of our novel contributions.展开更多
目的移动智能体在执行同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)的复杂任务时,动态物体的干扰会导致特征点间的关联减弱,系统定位精度下降,为此提出一种面向室内动态场景下基于YOLOv5和几何约束的视觉SLAM算法...目的移动智能体在执行同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)的复杂任务时,动态物体的干扰会导致特征点间的关联减弱,系统定位精度下降,为此提出一种面向室内动态场景下基于YOLOv5和几何约束的视觉SLAM算法。方法首先,以YOLOv5s为基础,将原有的CSPDarknet主干网络替换成轻量级的MobileNetV3网络,可以减少参数、加快运行速度,同时与ORB-SLAM2系统相结合,在提取ORB特征点的同时获取语义信息,并剔除先验的动态特征点。然后,结合光流法和对极几何约束对可能残存的动态特征点进一步剔除。最后,仅用静态特征点对相机位姿进行估计。结果在TUM数据集上的实验结果表明,与ORB-SLAM2相比,在高动态序列下的ATE和RPE都减少了90%以上,与DS-SLAM、Dyna-SLAM同类型系统相比,在保证定位精度和鲁棒性的同时,跟踪线程中处理一帧图像平均只需28.26 ms。结论该算法能够有效降低动态物体对实时SLAM过程造成的干扰,为实现更加智能化、自动化的包装流程提供了可能。展开更多
基金supported by the Ministry of Education of Singapore under Grant No.R265-000-277-112
文摘A geometrical analysis based algorithm is proposed to achieve the stereo matching of a single-lens prism based stereovision system. By setting the multi- face prism in frontal position of the static CCD （CM-140MCL） camera, equivalent stereo images with different orientations are captured synchronously by virtual cameras which are defined by two boundary lines： the optical axis and CCD camera field of view boundary. Subsequently, the geometrical relationship between the 2D stereo images and corresponding 3D scene is established by employing two fundamentals： ray sketching in which all the pertinent points, lines, and planes are expressed in the 3D camera coordinates and the rule of refraction. Landing on this relationship, the epipolar geometry is thus obtained by fitting a set of corresponding candidate points and thereafter, stereo matching of the prism based stereovision system is obtained. Moreover, the unique geometrical properties of the imaging system allow the proposed method free from the complicated camera calibration procedures and to be easily generalized from binocular and tri-oeular to multi-ocular stereovision systems. The performance of the algorithm is presented through the experiments on the binocular imaging system and the comparison with a conventional projection method demonstrates the efficient assessment of our novel contributions.
文摘目的移动智能体在执行同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)的复杂任务时,动态物体的干扰会导致特征点间的关联减弱,系统定位精度下降,为此提出一种面向室内动态场景下基于YOLOv5和几何约束的视觉SLAM算法。方法首先,以YOLOv5s为基础,将原有的CSPDarknet主干网络替换成轻量级的MobileNetV3网络,可以减少参数、加快运行速度,同时与ORB-SLAM2系统相结合,在提取ORB特征点的同时获取语义信息,并剔除先验的动态特征点。然后,结合光流法和对极几何约束对可能残存的动态特征点进一步剔除。最后,仅用静态特征点对相机位姿进行估计。结果在TUM数据集上的实验结果表明,与ORB-SLAM2相比,在高动态序列下的ATE和RPE都减少了90%以上,与DS-SLAM、Dyna-SLAM同类型系统相比,在保证定位精度和鲁棒性的同时,跟踪线程中处理一帧图像平均只需28.26 ms。结论该算法能够有效降低动态物体对实时SLAM过程造成的干扰,为实现更加智能化、自动化的包装流程提供了可能。
文摘针对如何准确获取位姿信息来实现移动机器人的避障问题,提出一种改进SIFT特征点匹配的单目车载视觉里程计算法.首先,为了提高特征点匹配的正确率和实时性,结合主成分分析法和平面极线几何约束,改进了传统SIFI匹配算法,其次,建立合理的移动机器人运动数学模型,得到连续帧间图像信息和移动机器人运动位姿变化的转换关系.试验结果表明,误差仅为1.6%,算法运行时间缩短0.022 s.
