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

作　　者：刘洪涛[1] 蒋如意[1] 胡文[1] 莫锦秋[1] 王石刚[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《上海交通大学学报》2013年第4期630-634,共5页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(50875169)

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.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 suppres sot was established. The experiment validates the effectiveness of the method suggested for drift suppression in visual odometry.

关 键 词：视觉里程计 运动估计 偏移抑制 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术] TB133[自动化与计算机技术—计算机科学与技术]