双目视觉导航解读.pptVIP

Xiaogang Wang York University Stereo Vision and Image Processing (review) Standard form Triangulation equation 双目视觉三维测量时基于视差原理 Xiaogang Wang York University Flow Chart of Stereo Vision Image Processing (review) Xiaogang Wang York University Stereo Vision and Image Processing (Triangulation) Given the disparity map, the baseline and the focal length (calibration): triangulation computers the position of the correspondence in the 3D space Xiaogang Wang York University Stereo Vision and Image Processing For me, I don’t need every 3D coordinate in the field of view. I just use some of Features. 图像匹配（Corresponding Pair） 特征匹配 基于抽象的几何特征，如角点、边缘及边缘直线等几何形状及参数进行特征点匹配。由于几何特征的稀疏性，特征匹配方式只能获得稀疏的深度图，需要各种内插方法才能完成整幅深度图提取。 Xiaogang Wang York University 图像的角点检测 角点检测（Corner Detection） 是计算机视觉中用来获取图像特征的一种方法，广泛应用于运动检测、图像匹配、视频跟踪、三维建模和目标识别等领域，也称为特征点检测。 角点通常定义为两条边的交点，更严格的说，角点的局部邻域应该具有不同区域的不同方向的边界。而实际应用中，大多数所谓的角点检测方法检测的是拥有特点特征的图像，而不仅仅是“角点”。 Xiaogang Wang York University Xiaogang Wang York University Vicon Motion Capture System To evaluate the accuracy of vision-based navigation system, the vicon camera system is utilized. Xiaogang Wang York University Vicon Motion Capture System Multiple vicon camera Marks Central computer Xiaogang Wang York University Vicon Motion Capture System First Step: configure the multiple vicon cameras Xiaogang Wang York University Vicon Motion Capture System Second Step: calibration the vicon cameras using the T brace Xiaogang Wang York University Vicon Motion Capture System Third step: attach the marks on mobile robot Xiaogang Wang York University Vicon Motion Capture System Final step: record and export the trajectory of mobile robot Xiaogang Wang York University Result of experiment Red line is the estimated trajectory using EKF Blue line is the captured trajectory by vicon camera system Xiaogang Wang York University Result of the experiment X coordinate error between vicon and estimated result Xiaogang Wang York University Result of the experiment Y c