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增量式参数化特征模型及其单目视觉导航
  • 摘要

    为了解决单目摄像机6自由度运动参数估计中的尺度不确定问题,提出了场景特征深度的“增量式参数化”模型.和传统的欧几里得参数化模型和逆深度参数化模型不同,在该模型中,图像序列特征点仅仅由其深度特征进行增量式描述.此外,引入了非线性系统的状态可观测性理论,对不同参数化模型进行了可观测性分析,证明了“增量式参数化模型”的一致可观测性.最后采用室内移动摄像机采集的公共数据集,进行了室内单目视觉导航实验,实验结果证明了该增量式参数化模型能够显著改善单目视觉导航性能.

  • 作者

    杨东方  王仕成  张金生  罗大成  刘华平  YANG Dongfang  WANG Shicheng  ZHANG Jinsheng  LUO Dacheng  LIU Huaping 

  • 作者单位

    第二炮兵工程大学自动控制系,西安710025;清华大学智能技术与系统国家重点实验室,北京100084/第二炮兵工程大学自动控制系,西安,710025/清华大学智能技术与系统国家重点实验室,北京,100084

  • 刊期

    2013年4期 ISTIC PKU

  • 关键词

    视觉导航  单目摄像机  参数化模型  可观测性分析  计算机视觉 

参考文献
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