Computer Science ›› 2016, Vol. 43 ›› Issue (Z6): 198-202.doi: 10.11896/j.issn.1002-137X.2016.6A.047

Previous Articles     Next Articles

Monocular Vision Alignment Algorithm Based on ORB

ZHU Yong-feng, ZHU Shu-long, ZHANG Jing-jing and ZHU Yong-kang   

  • Online:2018-12-01 Published:2018-12-01

Abstract: We proposed a monocular visual location algorithm which is faster,higher precise,and more robustness than current state-of-the-art methods in a wide range,repeated,high-frequency texture features (for example,cement,lawn) scenes.We extracted ORB (oriented fast and rotated brief) feature of sequences,matched point matches of images by using KNN,then computed the fundamental matrix F and the essential matrix E and used them to compute the initial camera pose.Then we computed the rotation matrix R and the translation vector t for every pair of images,and computed the camera motion between the current and the previous image,triangulating 3-D points (structure) from 2-D image correspondences,tracking the trajectory of camera.In order to improve our algorithm,we refined the pose and structure through minimizing the reprojection error.A test was made on our datasets which has been implemented in OpenCV/C++.The results is much better than tradition algorithm.Since it is a monocular implementation,we cannot do absolute scale estimation.

Key words: Visual location,Motion estimate,ORB,Feature matching,Feature tracking

[1] Lim H,Lim J,Kim H J.Real-time 6-DOF monocular visual SLAM in a large-scale environment[C]∥IEEE International Conference on Robotics and Automation (ICRA).2014:1532-1539
[2] 孟旭炯.基于单目视觉的同时定位与地图重建算法研究[D].杭州:浙江大学,2010
[3] 郑驰.基于光流法的单目视觉里程计研究[D].杭州:浙江大学,2013
[4] 卢维.高精度实时视觉定位的关键技术研究[D].杭州:浙江大学,2015
[5] 段京易.室外机器人单目视觉里程计研究[D].南京:南京信息工程大学,2014
[6] Forster C,Pizzoli M,Scaramuzza D.SVO:Fast semi-direct monocular visual odometry[C]∥Proc.IEEE Intl.Conf.on Robo-tics and Automation.2014:15-22
[7] Engel J,Ops T S,Cremers D.LSD-SLAM:Large-scale directmonocular SLAM[C]∥Computer Vision.2014:834-849
[8] Forster C,Pizzoli M,Scaramuzza D.SVO:Fast semi-direct monocular visual odometry[C]∥Robotics and Automation (ICRA).2014:15-22
[9] Mur-Artal R,Montiel J M M,Tard J D.ORB-SLAM:a Versatile and Accurate Monocular SLAM System[C]∥CoRR.2015
[10] Tan W,Liu H,Dong Z,et al.Robust monocular SLAM in dynamic environments[C]∥IEEE International Symposium on Mixed and Augmented Reality (ISMAR).2013:209-218

No related articles found!
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
No Suggested Reading articles found!