基于点线特征结合的单目相对位姿测量方法  

Relative Pose Measurement Method for Monocular Cameras By Combining the Point and Line Features

作　　者：李涛[1] 关棒磊 张家铭[1] 孙放 尚洋[1] Li Tao;Guan Banglei;Zhang Jiaming;Sun Fang;Shang Yang(Hunan Provincial Key Laboratory of Image Measurement and Vision Navigation,College of Aerospace Science and Engineering,National University of Defense Technology,Changsha,Hunan 410073,China)

机构地区：[1]国防科技大学空天科学学院图像测量与视觉导航湖南省重点实验室,湖南长沙410073

出　　处：《激光与光电子学进展》2020年第8期238-246,共9页Laser & Optoelectronics Progress

基　　金：国家自然科学基金(61802423)。

摘　　要：利用点特征求解单目相对位姿是现在普遍采用的方法,但在纹理不明显、角点少的场景下,仅依靠点特征难以得到理想的结果。鉴于此,结合惯性测量单元的测量数据和平面场景存在的单应性约束,提出了基于点线特征结合的单目相对位姿估计算法。先利用惯性测量单元提供的旋转角信息将2帧连续图像校正为正下视图像;再对图像中的点线特征进行检测和匹配;最后根据点线特征的单应性约束求解正下视图像之间的相对位姿,进而转化获得原始图像之间的相对位姿。仿真实验和实物实验结果证明,所提算法能够有效地求解单目相对位姿。The relative pose estimation in case of monocular cameras is generally based on point features.However,it would be difficult to obtain ideal results using this method in a scene,where the textures are not obvious and corners are small.Therefore,we combine the measurement data obtained from an inertial measurement unit based on the homography constraint associated with a planar scene and propose a monocular relative pose estimation algorithm by combining the point and line features.The images of the two consecutive frames can be initially rectified to downward view images using the angle information provided by the inertial measurement unit.Subsequently,the point-line features are detected and matched.Finally,the relative pose of the downward view images can be solved by transforming the relative pose of the original images according to the homography constraint associated with the combination of point and line features.The simulation and real experiments prove that the proposed algorithm is effective and that the relative pose for monocular cameras can be effectively measured.

关 键 词：成像系统 位姿测量 单目视觉 惯性测量单元 点线特征结合 单应性约束 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]