Image-based self-position and orientation method for moving platform  

作　　者：LI DeRen LIU Yong YUAN XiuXiao 

机构地区：[1]State Key Laboratory of Information Engineering in Surveying,Mapping and Remote Sensing,Wuhan University [2]School of Electronic Information,Wuhan University [3]School of Remote Sensing and Information Engineering,Wuhan University

出　　处：《Science China(Information Sciences)》2013年第4期1-14,共14页中国科学（信息科学）（英文版）

基　　金：supported by National Key Developing Program for Basic Sciences of China (Grant No. 2012CB-719902);National Natural Science Foundation of China (Grant Nos. 41021061,40971219)

摘　　要：The position and orientation of moving platform mainly depends on global positioning system and inertial navigation system in the field of low-altitude surveying, mapping and remote sensing and land-based mobile mapping system. However, GPS signal is unavailable in the application of deep space exploration and indoor robot control. In such circumstances, image-based methods are very important for self-position and orientation of moving platform. Therefore, this paper firstly introduces state of the art development of the image-based self-position and orientation method （ISPOM） for moving platform from the following aspects： 1） A comparison among major image-based methods （i.e., visual odometry, structure from motion, simultaneous localization and mapping） for position and orientation; 2） types of moving platform; 3） integration schemes of image sensor with other sensors; 4） calculation methodology and quantity of image sensors. Then, the paper proposes a new scheme of ISPOM for mobile robot - depending merely on image sensors. It takes the advantages of both monocular vision and stereo vision, and estimates the relative position and orientation of moving platform with high precision and high frequency. In a word, ISPOM will gradually speed from research to application, as well as play a vital role in deep space exploration and indoor robot control.The position and orientation of moving platform mainly depends on global positioning system and inertial navigation system in the field of low-altitude surveying, mapping and remote sensing and land-based mobile mapping system. However, GPS signal is unavailable in the application of deep space exploration and indoor robot control. In such circumstances, image-based methods are very important for self-position and orientation of moving platform. Therefore, this paper firstly introduces state of the art development of the image-based self-position and orientation method （ISPOM） for moving platform from the following aspects： 1） A comparison among major image-based methods （i.e., visual odometry, structure from motion, simultaneous localization and mapping） for position and orientation; 2） types of moving platform; 3） integration schemes of image sensor with other sensors; 4） calculation methodology and quantity of image sensors. Then, the paper proposes a new scheme of ISPOM for mobile robot - depending merely on image sensors. It takes the advantages of both monocular vision and stereo vision, and estimates the relative position and orientation of moving platform with high precision and high frequency. In a word, ISPOM will gradually speed from research to application, as well as play a vital role in deep space exploration and indoor robot control.

关 键 词：self-position and orientation ISPOM visual odometry structure from motion simultaneous lo- calization and mapping 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]