复杂光强下无人机视觉惯性定位算法  

Visual-Inertial Positioning Algorithm for UAV Under Complex Light Intensity

作　　者：王坤鹏[1] 付世沫 魏媛媛 王耀力[1] 常青[1] WANG Kunpeng;FU Shimo;WEI Yuanyuan;WANG Yaoli;CHANG Qing(Taiyuan University of Technology,Jinzhong 030000 China;Taiyuan Water Supply Design and Research Institute,Taiyuan 030000 China)

机构地区：[1]太原理工大学,山西晋中030000 [2]太原供水设计研究院有限公司,太原030000

出　　处：《电光与控制》2024年第11期18-25,共8页Electronics Optics & Control

基　　金：国家自然科学基金(61828601);山西省重点研发项目(201903D321003);供水管道检漏感知技术研发项目(RH2000005391)。

摘　　要：针对复杂光照条件下视觉惯性同步定位与地图构建(VIO-SLAM)算法易发生偏移以及跟踪失败等问题,提出了一种改进的VIO-SLAM算法。首先,所提PVIO-SLAM算法对图像进行照度判别,对不同照度分别进行自适应对数校正和对比度受限的直方图均衡化(CLAHE)处理;接着,采用提出的自适应加权融合策略对预处理后的图像进行融合,同时使用预积分缩小匹配范围加速特征点匹配,引入回环校验来提高算法的鲁棒性;最后,在公共数据集上进行实验,与原算法相比,未开启回环校验时所提算法均方根误差降低35.75%,开启后均方根误差进一步降低14.96%。实际场景下的实验结果表明,所提算法的运动轨迹与真实轨迹相吻合。综上所述,提出的算法有效提升了复杂光照条件下的VIO-SLAM的精度,具有较高的鲁棒性。In response to the issues of drifting and tracking failures encountered in the Visual-Inertial SLAM(VIO-SLAM)algorithm under complex lighting conditions an improved algorithm is proposed.The algorithm called PVIO-SLAM performs illumination discrimination on images and applies adaptive logarithmic correction and CLAHE to different illumination.Then the adaptive weighted fusion strategy proposed in this paper is used to fuse the pre-processed images the pre-integral is used to reduce the matching range and accelerate the feature point tracking and matching and the loopback check is introduced to improve the robustness of the algorithm.Experimental results on a public dataset demonstrate that compared with the original algorithm when loopback check is not used the proposed algorithm achieves an average reduction of 35.75%in RMSE which is further reduced by 14.96%when enabling loopback check.Experimental results in real-world scenarios indicate that the proposed algorithm yields motion trajectories that are closer to the ground truth.In summary the proposed algorithm effectively improves the accuracy and robustness of VIO-SLAM under complex lighting conditions.

关 键 词：无人机定位 复杂光照 图像预处理 IMU预积分 回环校验 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]