可用于双足导航系统的视觉位姿测量研究  

Research of visual pose measurement for two-feet navigation system

作　　者：翁垚坤 朱茂然 武元新[1] WENG Yao-kun;ZHU Mao-ran;WU Yuan-xin(National Key Laboratory of Science and Technology on Micro/Nano Fabrication,Shanghai Jiaotong University,Shanghai 200240,China)

机构地区：[1]上海交通大学,微米/纳米加工技术国家重点实验室,上海200240

出　　处：《信息技术》2024年第3期1-9,共9页Information Technology

基　　金：国家重点研发计划课题(2018YFB1305103)。

摘　　要：以惯性传感器为主、其它传感器为辅的导航方式是室内导航领域的研究热点。文中以双足行人导航系统为研究背景,以足部固定标志物为标靶,设计了基于透视n点(Perspective-n-Point,PnP)问题的视觉位姿测量算法。针对双足行人导航系统中的位姿测量问题进行了仿真和实验,评估了单目相机估算位姿的精确性,实验结果验证了文中方法的有效性。The navigation method based on inertial sensors and assisted by other sensors is a research hotspot in the field of indoor navigation.Based on the two-feet pedestrian navigation system,this paper designs a visual pose measurement algorithm for the two-feet system,for which the Perspective-n-Point(PnP)algorithm is used to obtain the foot pose with the fixed foot markers as the target.Simulation and experiment tests are both carried out to evaluate the accuracy of the pose estimation of the monocular camera.The results show the effectiveness of the proposed method.

关 键 词：双足导航系统 位姿测量 透视n点算法 单目相机 联合标定 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]