测绘科学技术学报2025，Vol.41Issue(1)：21-26,6.DOI:10.3969/j.issn.1673-6338.2025.01.004
低光照条件下基于图像增强的视觉惯性组合导航方法
Visual-inertial Integrated Navigation Method Based on Image Enhancement under Low Illumination Conditions
摘要
Abstract
A monocular visual-inertial integrated navigation algorithm based on image enhancement is proposed to solve the problem that visual-inertial SLAM is prone to drift and even system failure in the scene of intense illumi-nation change and low illumination.Firstly,improved adaptive Gamma transform and CLAHE processing are used to enhance image brightness and contrast.Then,an improved RANSAC algorithm based on angle consistency is used to eliminate the mismatched points.Finally,the visual measurements and IMU pre-integral are tightly coupled to obtain stable pose results.Four difficult sequences with large illumination variation and low illumination in Eu-RoC dataset were used for verification.Compared with that of the open source VINS_Mono algorithm,the positio-ning accuracy of the proposed algorithm is improved by 13.15%～25.81%.关键词
低光照/图像增强/角度一致性/视觉惯性/组合导航Key words
low illumination/image enhancement/angle consistency/visual-inertial/integrated navigation分类
测绘与仪器引用本文复制引用
李雪强,李建胜,王安成,郭雨岩,付飞,赵刚..低光照条件下基于图像增强的视觉惯性组合导航方法[J].测绘科学技术学报,2025,41(1):21-26,6.基金项目
国防科技重点实验室基金项目(6142403210201) （6142403210201）
国家自然科学基金重点项目(42330113). （42330113）
