电讯技术2025，Vol.65Issue(1)：111-118,8.DOI:10.20079/j.issn.1001-893x.230427001
综合运动约束和RANSAC的视觉前端完好性增强与误差建模
Visual Frontend Integrity Enhancement and Error Modeling with Integrated Motion Constraints and RANSAC
摘要
Abstract
Satellite/inertial/visual integrated navigation has gradually been becoming the mainstream navigation solution in intelligent transportation applications.To ensure navigation safety,it is necessary to realize integrity monitoring of this type of multi-sensor integrated navigation system.To achieve this goal,an outlier rejection method is proposed for visual measurements based on the motion constraint,which is combined with the Random Sample Consensus(RANSAC)method to further reduce the outlier rate.Finally,The error model for the visual measurements is established by employing the error overbounding technique.Experimental results suggest that the proposed method can significantly reduce the error standard deviation of visual feature points,which is about 70%lower than using RANSAC method alone.More importantly,the method combining motion constraints with the RANSAC method can make the error model insensitive to the scene.The research is of great significance for enhancing the integrity of multi-source navigation through visual participation.关键词
自动驾驶/增强视觉导航/完好性/多源导航Key words
autonomous driving/enhanced visual navigation/integrity/multi-source navigation分类
信息技术与安全科学引用本文复制引用
赵亮,宛子翔..综合运动约束和RANSAC的视觉前端完好性增强与误差建模[J].电讯技术,2025,65(1):111-118,8.基金项目
浙江省重点研发计划(2021C01196) （2021C01196）
