测试科学与仪器2026，Vol.17Issue(1)：36-48,13.DOI:10.62756/jmsi.1674-8042.2026003
单目视觉定位的增强:基于立体靶标的初始化方法
Enhancing monocular visual positioning:3D target-assisted initialization
摘要
Abstract
Monocular visual positioning systems are valued for their low cost and straightforward calibration.However,the lack of real-scale information and the complexity of initialization processes limit their application in scenarios requiring accurate absolute positioning.Existing solutions present trade-offs:markerless approaches depend on environmental priors(e.g.,fixed camera height constraints)for scale recovery,while marker-based methods typically necessitate that target patterns remain within the camera's field of view throughout the process.To address these challenges,we propose a 3D target-assisted initialization method that enables scale recovery with just two target images.This modular approach can be seamlessly integrated into monocular simultaneous localization and mapping(SLAM)frameworks.We validated our proposed initialization method through integration with ORB-SLAM3 and semi-direct visual odometry(SVO).Experimental results demonstrated that our method provides real-scale information without compromising real-time performance,making it suitable for applications such as indoor navigation and industrial robot localization,where accurate absolute positioning is essential.关键词
单目同步定位与建图/实时定位/尺度恢复/立体靶标/绝对定位/视觉里程计Key words
monocular simultaneous localization and mapping(SLAM)/real-time positioning/scale recovery/3D target/absolute positioning/visual odometry引用本文复制引用
马珺禹,孙长库,王鹏,付鲁华..单目视觉定位的增强:基于立体靶标的初始化方法[J].测试科学与仪器,2026,17(1):36-48,13.基金项目
This work was supported by the Science and Technology Program Project of Tianjin(No.24ZXZSSS00300). （No.24ZXZSSS00300）
