计算机工程与应用2016，Vol.52Issue(17)：243-246,252,5.DOI:10.3778/j.issn.1002-8331.1410-0181
基于平面单应性的单目视觉里程计设计
Design of monocular visual odometry algorithm based on homography
摘要
Abstract
This paper presents a robust method for monocular visual odometry capable of accurate position estimation of a mobile robot, and this algorithm uses a single camera to extract SURF(Speeded Up Robust Features)features points on the road of the consecutive frames. Matching the feature points of two consecutive frames, it combines with epipolar geometry, and then gets the pose transformation matrix of the vehicle based on homography matrix. The experimental results show that this algorithm has high accuracy and a good performance of real-time.关键词
视觉里程计/极线几何/平面单应性/加速鲁棒特征(SURF)Key words
visual odometry/epipolar geometry/homography/Speeded Up Robust Features(SURF)分类
信息技术与安全科学引用本文复制引用
赵黎明,陈宁..基于平面单应性的单目视觉里程计设计[J].计算机工程与应用,2016,52(17):243-246,252,5.基金项目
福建省科技厅资助省属高校专项（No.JK2014024）。 （）
