基于改进光流法和纹理权重的视觉里程计  

Visual odometry based on modified optical flow and texture weights

作　　者：吴荻 战凯[2] 肖小凤 WU Di;ZHAN Kai;XIAO Xiao-feng(School of Mechanical Engineering,University of Science and Technology Beijing,Beijing 100083,China;Beijing General Research Institute of Mining and Metallurgy,Beijing 100160,China)

机构地区：[1]北京科技大学机械学院,北京100083 [2]北京矿冶研究总院,北京100160

出　　处：《计算机工程与设计》2019年第1期230-235,共6页Computer Engineering and Design

基　　金：国家863高技术研究发展计划基金项目(2011AA060408)

摘　　要：提出一种基于改进Census变换和不同纹理区域的直接法视觉里程计。为解决直接法视觉里程计中像素误差对结果造成较大影响的问题,使用改进的Census变换计算LK光流。在传统Census变换中增加邻域周围像素和邻域均值像素的比较关系。针对图像中不同纹理区域的特征点,在相机位姿计算过程中,根据其所在区域的纹理复杂程度设定不同的权重值。使用TUM和KITTI数据库为测试平台,分别验证了ORB、FAST、BRISK这3种不同检测子的光流跟踪结果,并验证了改进视觉里程计的正确性和有效性。A direct visual odometry based on improved Census transform and different texture regions was proposed.The improved Census transform was used for reducing the error caused by intensity error in optical flow.The comparisons between the neighbor pixel intensity and the average intensity of neighbor pixel were added to traditional Census transform.For the order of elements in transforming binary string to decimal representation,a new arrangement was proposed.TUM and KITTI datasets were used to compare the optical flow results of ORB,FAST,BRISK descriptors.Experimental results demonstrate the validity and effectiveness.

关 键 词：直接法视觉里程计 LK光流 Census变换 特征提取 不同纹理权重 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]