【摘要】：針對機器人視覺系統(tǒng)外參數(shù)標(biāo)定的問題,提出了基于單目視覺ORB-SLAM的差分GPS輔助相機外參數(shù)標(biāo)定方法。分析了單目視覺ORB-SLAM和GPS(Global Position System)定位數(shù)據(jù)之間的相似關(guān)系,建立了相機外參數(shù)標(biāo)定的非線性最小二乘模型�；陔S機采樣一致性(RANSAC),通過三點法求得模型的初始解。設(shè)計了Levenberg-Marquardt(LM)迭代算法求解出最優(yōu)解,從而得到了最優(yōu)的相機相對位置和姿態(tài)參數(shù)。最后,對提出的方法進行仿真和跑車試驗驗證。結(jié)果表明:在試驗半徑為50m時,所設(shè)計標(biāo)定方法的姿態(tài)標(biāo)定精度可達0.1°,位置標(biāo)定精度可達0.2%。該方法標(biāo)定過程簡單實用,不需要外界環(huán)境的先驗信息和人工干預(yù),具有很高的精度和顯著的應(yīng)用價值。
[Abstract]:Aiming at the problem of external parameter calibration of robot vision system, a method of external parameter calibration for differential GPS camera based on monocular vision ORB-SLAM is proposed. The similarity relationship between Monocular Vision ORB-SLAM and GPS (Global Position System) positioning data is analyzed, and a nonlinear least square model for camera external parameter calibration is established. The initial solution of the model is obtained by three point method based on random sampling consistent (RANSAC),. The Levenberg-Marquardt (LM) iterative algorithm is designed to solve the optimal solution, and the optimal camera relative position and attitude parameters are obtained. Finally, the proposed method is verified by simulation and sports car test. The results show that when the experimental radius is 50 m, the precision of attitude calibration can reach 0.1 擄, and the precision of position calibration can reach 0.2 擄. The calibration process of this method is simple and practical. It does not require prior information and manual intervention from outside environment. It has high accuracy and significant application value.
【作者單位】： 海軍航空工程學(xué)院控制工程系;海軍航空兵學(xué)院空中領(lǐng)航系;
【基金】：國家自然科學(xué)基金資助項目(No.61004002)
【分類號】：TP242;TP391.9

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