盲环境移动定位(Ⅱ):基于单目视觉系统的定位技术

针对盲环境中移动目标的定位需要,提出了一种基于序列编码图形路标和单目机器视觉系统的盲环境移动目标定位算法.内容包括:在序列编码图形路标模型的基础上,建立包含透镜畸变分析的摄像机针孔成像模型,在移动目标上安装经过标定的单目相机,实时采集包含编码图形路标的图像;根据解码得到的编码标志牌中心点的三维坐标,利用POSIT算法解算出相机的位姿参数,实现盲环境下移动目标的精确定位定姿.实验结果和精度分析表明,该研究为盲环境中移动目标快速精确的自主定位提供了一种可行的新方法.

Mobile Positioning in Blind Environments(Ⅱ): Positioning Moving Targets Based on a Monocular Vision System

This paper proposes a mobile positioning algorithm for moving targets in a blind environment without satellite navigation signals and based on coded sequence pattern signposts and a monocular vision system. The coded sequence pattern signposts were fixed along the blind environment. The 3D coordinates of the center of each coded pattern identified a signpost. A pinhole imaging model was then established using a camera equipped with through-the-lens distortion analysis. A calibrated monocular vision system was mounted on the target object to capture images with coded patterns. Image processing methods were used to interpret the coded sequence pattern signposts, and to inquire about the coordinates of the center of each signpost according to its code pattern. The translation and rotation parameters of the monocular vision system were computed by using a POSIT algorithm so as to compute the pose of a moving target. Experiment results indicated that the proposed method delivers fast and accurate pose estimation for moving targets in a blind environment without GNSS signals.