基于路面垂直轮廓B样条拟合的车辆运动估计偏移抑制

上海交通大学学报（自然版） ›› 2013, Vol. 47 ›› Issue (04): 630-634.

• 自动化技术、计算机技术 • 上一篇下一篇

基于路面垂直轮廓B样条拟合的车辆运动估计偏移抑制

刘洪涛，蒋如意，胡文，莫锦秋，王石刚

(上海交通大学机械与动力工程学院，上海 200240)

收稿日期:2011-12-13 出版日期:2013-04-28 发布日期:2013-04-28
基金资助:
国家自然科学基金资助项目(50875169)

Drift Suppression in Motion Estimation Based on B-Spline Fitting of Vertical Profile

LIU Hong-Tao, JIANG Ru-Yi, HU Wen, MO Jin-Qiu, WANG Shi-Gang

(School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China)

Received:2011-12-13 Online:2013-04-28 Published:2013-04-28

摘要/Abstract

摘要： 针对用视觉里程计估计车辆运动时因相对测量误差累积而导致偏移的问题，提出了一种基于路面垂直轮廓B样条拟合动态跟踪的偏移抑制方法.当车辆行驶过程中一直紧贴路面时，由于车辆的运动轨迹与路面在垂直方向上的轮廓形状相吻合，故可以通过跟踪路面的垂直轮廓用于抑制视觉里程计估计车辆的运动轨迹时产生的偏移.因为路面垂直轮廓跟踪和车辆运动估计在时间上不同步，所以建立了一种具有固定滞后的卡尔曼偏移抑制器.实验结果表明，所提出的方法对于抑制视觉里程计运动估计中的偏移是有效的.

关键词: 视觉里程计, 运动估计, 偏移抑制

Abstract: In vehicle motion estimation using visual odometry, drift accumulated from errors in relative measurement is a big problem. This paper put forward a new drift suppression method based on dynamic tracking by B-spline fitting of vertical road profile. When a vehicle is driving tightly on the surface of a road, the motion trajectory will have the same shape as the vertical road profile. Thus tracking of the vertical road profile can be used to suppress the drift value for motion estimation using visual odometry. As vertical road profile tracking and motion estimation are not synchronous, a fixedlag Kalman drift suppressor was established. The experiment validates the effectiveness of the method suggested for drift suppression in visual odometry.

Key words: visual odometry, motion estmation, drift suppression

中图分类号:

刘洪涛, 蒋如意, 胡文, 莫锦秋, 王石刚. 基于路面垂直轮廓B样条拟合的车辆运动估计偏移抑制[J]. 上海交通大学学报（自然版）, 2013, 47(04): 630-634.

LIU Hong-Tao, JIANG Ru-Yi, HU Wen, MO Jin-Qiu, WANG Shi-Gang. Drift Suppression in Motion Estimation Based on B-Spline Fitting of Vertical Profile[J]. Journal of Shanghai Jiaotong University, 2013, 47(04): 630-634.

参考文献

［1］Konolige K， Agrawal M， Sola J. Largescale visual odometry for rough terrain［J］. Robotics Research， 2011,66: 201212.

［2］Scaramuzza D， Siegwart R. Appearanceguided monocular omnidirectional visual odometry for outdoor ground vehicles［J］.

IEEE Transactions on Robotics, 2008, 24(5):10151026.
［3］Comport A I, Malis E, Rives P. Realtime quadrifocal visual odometry［J］. Robotics Research, 2010, 29(23):245266.
［4］梁昆，杨明，王春香, 等. 基于低精度GPS的智能车视觉导航方法［J］. 上海交通大学学报, 2011, 45(2):168172.
LIANG Kun, YANG Ming, WANG Chunxiang, et al. Low accuracy GPS and vision based method for intelligent vehicle navigation［J］. Journal of Shanghai Jiaotong University, 2011,45(2):168172.
［5］Olson C F, Matthies L H, Schoppers M, et al. Stereo egomotion improvements for robust rover navigation［J］.

IEEE Conference on Robotics and Automation, 2001, 2:10991104.
［6］Dubbelman G, Groen F C A. Bias reduction for stereo based motion estimation with applications to large scale visual odometry［J］.

IEEE Conference on Computer Vision and Pattern Recognition, 2009,1: 22222229.
［7］Loose H, Franke U. Bsplinebased road model for 3d lane recognition［J］. IEEE Conference on Intelligent Transportation Systems, 2010,1: 9198.
［8］Davison A J. Realtime simultaneous localisation and mapping with a single camera［J］. IEEE Conference on Computer Vision, 2003,2:14031410.
［9］Sünderhauf N, Protzel P. Towards using sparse bundle adjustment for robust stereo odometry in outdoor terrain［C］∥Proc Towards Autonomous Robotic Systems (TAROS), Guildford,UK：Springer:2006: 206213.

[1]	闵海根，赵祥模，徐志刚，张立成，王润民. 基于稳健特征点的立体视觉测程法[J]. 上海交通大学学报（自然版）, 2017, 51(7): 870-877.
[2]	潘海朗，石磊，戴跃伟. 采用标记点的弹性连接体三维建模与运动估计[J]. 上海交通大学学报（自然版）, 2008, 42(10): 1627-1630.

基于路面垂直轮廓B样条拟合的车辆运动估计偏移抑制

Drift Suppression in Motion Estimation Based on B-Spline Fitting of Vertical Profile

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 2

编辑推荐

Metrics

本文评价