基于路面垂直轮廓B样条拟合的车辆运动估计偏移抑制

针对用视觉里程计估计车辆运动时因相对测量误差累积而导致偏移的问题，提出了一种基于路面垂直轮廓B样条拟合动态跟踪的偏移抑制方法.当车辆行驶过程中一直紧贴路面时，由于车辆的运动轨迹与路面在垂直方向上的轮廓形状相吻合，故可以通过跟踪路面的垂直轮廓用于抑制视觉里程计估计车辆的运动轨迹时产生的偏移.因为路面垂直轮廓跟踪和车辆运动估计在时间上不同步，所以建立了一种具有固定滞后的卡尔曼偏移抑制器.实验结果表明，所提出的方法对于抑制视觉里程计运动估计中的偏移是有效的.

Drift Suppression in Motion Estimation Based on B-Spline Fitting of Vertical Profile

In vehicle motion estimation using visual odometry, drift accumulated from errors in relative measurement is a big problem. This paper put forward a new drift suppression method based on dynamic tracking by B-spline fitting of vertical road profile. When a vehicle is driving tightly on the surface of a road, the motion trajectory will have the same shape as the vertical road profile. Thus tracking of the vertical road profile can be used to suppress the drift value for motion estimation using visual odometry. As vertical road profile tracking and motion estimation are not synchronous, a fixed lag Kalman drift suppressor was established. The experiment validates the effectiveness of the method suggested for drift suppression in visual odometry.