Effect of attitude installation error of camera on precision of monocular visual odometry

CAO Yu; FENG Ying; ZHAO Li-shuang; LEI Bing

doi:10.13873/j.1000-97872012.12.027

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Effect of attitude installation error of camera on precision of monocular visual odometry

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- Effect of attitude installation error of camera on precision of monocular visual odometry
- Vol. 31, Issue 12, Pages: 23-26+30(2012)
- 作者机构：
  
  国防科技大学光电科学与工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872012.12.027
  CLC： TP391.41
- Published：2012
- 稿件说明：
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[1]曹毓,冯莹,赵立双,雷兵.相机姿态安装误差对单目视觉定位精度的影响[J].传感器与微系统,2012,31(12):23-26+30.

CAO Yu, FENG Ying, ZHAO Li-shuang, et al. Effect of attitude installation error of camera on precision of monocular visual odometry[J]. 2012, 31(12): 23-26+30.
[1]曹毓,冯莹,赵立双,雷兵.相机姿态安装误差对单目视觉定位精度的影响[J].传感器与微系统,2012,31(12):23-26+30. DOI： 10.13873/j.1000-97872012.12.027.

CAO Yu, FENG Ying, ZHAO Li-shuang, et al. Effect of attitude installation error of camera on precision of monocular visual odometry[J]. 2012, 31(12): 23-26+30. DOI： 10.13873/j.1000-97872012.12.027.

摘要

现有单目视觉定位方法由于相机姿态误差而存在定位精度不高的问题

但鲜见文献对此进行定量分析。针对该问题从定性分析和定量仿真的角度研究了相机姿态角的安装误差对单目视觉定位精度的影响。在距离为211.377 m的平坦直线道路上进行了三组实验

实验结果和仿真结果吻合较好

经相机姿态安装误差校正以后

三组实验中行驶轨迹弯曲的现象得到了纠正

并获得了最大误差0.45%的测距精度。所得结论对提高单目视觉定位精度具有指导意义。

Abstract

Because of the attitude error of camera

the monocular visual odometry exists low precision.But there are few analysis on this problem.Aiming at this problem influence of attitude installation error of camera on precision of monocular visual odometry from the standpoint of qualitative analysis and quantitative simulation.3 groups of experiments is carried out on an straight-and-even road which is 211.377m long.The experimental result conforms to the simulation result.After calibration of installation error of camera attitude

the bent tracks of vehicle is rectified and the maximum ranging error is 0.45 %.The conclusion has guidance value in improving precision of monocular visual odometry.

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references

单目视觉里程计/惯性组合导航算法（英文） [J]. 冯国虎,吴文启,曹聚亮,宋敏. 中国惯性技术学报 . 2011(03)

Distinctive Image Features from Scale-Invariant Keypoints [J] . David G. Lowe. International Journal of Computer Vision . 2004 (2)

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