全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...
电子学报  2013 

基于鱼眼相机的自运动参数异步估计

DOI: 10.3969/j.issn.0372-2112.2013.09.026, PP. 1831-1835

Keywords: 自运动参数,异步估计,运动向量,单目视觉,鱼眼相机

Full-Text   Cite this paper   Add to My Lib

Abstract:

自运动参数估计是辅助驾驶、机器人导航等领域的核心问题之一.本文提出了一种适用于鱼眼相机的自运动参数异步估计方法.该方法通过特征分类及虚拟面投影,对旋转运动参数和平移运动参数分步估计.解决了以往算法中,旋转参数和平移参数同时估计时,二者相互影响的问题,提高了估计精度.本文首先利用平台运动特性简化相机运动模型,并根据不同距离不同位置的景物对运动参数估计的作用,对背景特征进行分类.分析并推导了各类特征的运动规律.然后根据运动规律,利用远处背景及一般背景特征估计旋转运动参数,利用地面特征估计平移运动参数.实验结果表明,本文方法不易受光照和干扰点影响,同一些经典方法相比,本文方法更具准确性和鲁棒性.

References

[1]  Turturici M,Saponara S,Fanucci L,Franchi E.Low-power embedded system for real-time correction of fish-eye automotive cameras [A].Design,Automation & Test in Europe Conference & Exhibition [C].New Jersey,USA:IEEE,2012.340-341.
[2]  Yamaguchi K,Kato T,Ninomiya Y.Vehicle ego-motion estimation and moving object detection using a monocular camera [A].18th International Conference on Pattern Recognition [C].New Jersey,USA:IEEE,2006.610-613.
[3]  Weydert M.Model-based ego-motion and vehicle parameter estimation using visual odometry [A].16th IEEE Electrotechnical Conference(MELECON) [C].New Jersey,USA:IEEE,2012.914-919.
[4]  Shigang Li,Fukumori K.Spherical stereo for the construction of immersive VR environment [A].Proceedings of the IEEE Virtual Reality [C].New Jersey,USA:IEEE,2005.217-222.
[5]  Kannala J,Brandt S S.A generic camera model and calibration method for conventional,wide-angle,and fish-eye lenses[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2006,28(8):1335-1340.
[6]  Van Hamme D,Veelaert P,Philips W.Robust monocular visual odometry by uncertainty voting [A].Intelligent Vehicles Symposium [C].New Jersey,USA:IEEE,2011.643-647.
[7]  Tomasi C,Kanade T.Detection and Tracking of Point Features [R].USA:Carnegie Mellon University,1991.
[8]  仲训昱,朱齐丹,张智.数字稳像中的快速和鲁棒运动估计研究[J].电子学报,2010,38(1):251-256. Zhong Xun-yu,Zhu Qi-dan,Zhang Zhi.Study of fast and robust motion estimation in the digital image stabilization[J].Acta Electronica Sinica,2010,38(1):251-256.(in Chinese)
[9]  Sato I,Yamano C,Yanagawa H.Crossing obstacle detection with a vehicle-mounted camera [A].Intelligent Vehicles Symposium [C].New Jersey,USA:IEEE,2011.60-65.
[10]  刘威,于红绯,杨恒,段勃勃,袁淮,赵宏.一种新的基于单目视觉的广义障碍物检测方法[J].电子学报,2011,39(8):1793-1799. Liu Wei,Yu Hong-fei,Yang Heng,Duan Bo-bo,Yuan Huai,Zhao Hong.A new method for generalized obstacle detection based on monocular vision[J].Acta Electronica Sinica,2011,39(8):1793-1799.(in Chinese)
[11]  Stein G P,Mano O,Shashua A.A robust method for computing vehicle ego-motion [A].Proceedings of the IEEE Intelligent Vehicle Symposium [C].USA:IEEE,2000.362-368.
[12]  Scaramuzza D,Fraundorfer F,Siegwart R.Real-time monocular visual odometery for on-road vehicles with 1-point ransac [A].IEEE International Conference on Robotics and Automation [C].New Jersey,USA:IEEE,2009.4293-4299.
[13]  Sun Z,Bebis G,Miller R.On-road vehicle detection:a review[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2006,28(5):694-711.
[14]  Musleh B,Martin D,de la Escalera A,Armingol J M.Visual ego motion estimation in urban environments based on U-V disparity [A].Intelligent Vehicles Symposium [C].New Jersey,USA:IEEE,2012.444-449.
[15]  Fraundorfer F,Scaramuzza D.Visual odometry:part II:matching,robustness,optimization,and applications[J].IEEE Robotics & Automation Magazine,2012,19(2):78-90.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133