典型文献
Research on DSO vision positioning technology based on binocular stereo panoramic vision system
文献摘要：
In the visual positioning of Unmanned Ground Vehicle(UGV),the visual odometer based on direct sparse method(DSO)has the advantages of small amount of calculation,high real-time performance and high robustness,so it is more widely used than the visual odometer based on feature point method.Ordinary vision sensors have a narrower viewing angle than panoramic vision sensors,and there are fewer road signs in a single frame of image,resulting in poor road sign tracking and positioning capabilities,and severely restricting the development of visual odometry.Based on these considerations,this paper proposes a binocular stereo panoramic vision positioning algorithm based on extended DSO,which can solve these problems well.The experimental results show that the binocular stereo panoramic vision positioning algorithm based on the extended DSO can directly obtain the panoramic depth image around the UGV,which greatly improves the accuracy and robustness of the visual positioning compared with other ordinary visual odometers.It will have widely application prospects in the UGV field in the future.
文献关键词：
中图分类号：
作者姓名：
Xiao-dong Guo;Zhou-bo Wang;Wei Zhu;Guang He;Hong-bin Deng;Cai-xia Lv;Zhen-hai Zhang
作者机构：
School of Mechatronical Engineering,Beijing Institute of Technology,Beijing,100081,China;Department of Architectural Engineering Technology,Vocational and Technical College of Inner Mongolia Agricultural University,Baotou,014109,China
文献出处：
引用格式：
[1]Xiao-dong Guo;Zhou-bo Wang;Wei Zhu;Guang He;Hong-bin Deng;Cai-xia Lv;Zhen-hai Zhang-.Research on DSO vision positioning technology based on binocular stereo panoramic vision system)[J].防务技术,2022(04):593-603
A类：
odometer,odometers
B类：
Research,DSO,vision,positioning,technology,binocular,stereo,panoramic,system,In,visual,Unmanned,Ground,Vehicle,UGV,sparse,method,has,advantages,small,amount,calculation,high,real,performance,robustness,more,widely,used,than,feature,point,Ordinary,sensors,have,narrower,viewing,angle,there,fewer,road,signs,single,frame,image,resulting,poor,tracking,capabilities,severely,restricting,development,odometry,Based,these,considerations,this,paper,proposes,algorithm,extended,which,can,solve,problems,well,experimental,results,show,that,directly,obtain,depth,around,greatly,improves,accuracy,compared,other,ordinary,It,will,application,prospects,field,future
AB值：
0.510148
相似文献
机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
