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《Journal of Zhejiang University(Engineering Science)》 2014-02
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Monocular vision odometry based on the fusion of optical flow and feature points matching

ZHENG Chi;XIANG Zhi-yu;LIU Ji-lin;Department of Information Science and Electronic Engineering,Zhejiang University;Zhejiang Provincial Key Laboratory of Information Network Technology;  
For the problem of real-time precise localization on the urban flat surface,a monocular vision odometry based on the Kalman fusion of optical flow and feature points matching has been proposed.Based on the assumption of flat plane,the method of optical flow tracking was applied for localization between two frames in small movement.Meanwhile,the traditional SURF feature points matching between two frames in long distance was applied for refining the output of the optical flow method.The position and posture of the robot was updated through Kalman filter.The results demonstrate that the fusion algorithm overcomes the shortcomings of poor positioning accuracy of the optical flow and the low processing speed of the feature matching method,highlighting the advantages of real-time performance of optical flow and high accuracy of the feature matching.The fusion algorithm is robust to the circumstances such as illumination change and low road texture,producing agood localization results in real-time.
【Fund】: 国家自然科学基金资助项目(61071219)
【CateGory Index】: TP391.41
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