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中文摘要: 在视觉里程计的应用中，实时准确的获得相机姿态和高度数据有助于提高视觉定位的精度。而现有解决方案要么成本过高，要么精度无法满足要求，为此提出了基于路面激光扫描的相机外参数实时测量方法。该方法将两台二维激光扫描仪相互正交安装且向下扫描，对获得的沿着两个方向的路面扫描线使用RANSAC算法估计出直线方程，根据两直线方程求得道路平面方程，并以该平面为参考获得相机相对路面的姿态和高度数据。室内实验结果表明：静态条件下对姿态的测量误差最大约0.1o，高度测量误差最大6 mm；室外动态实验结果表明：与传统的惯性测量方法不同，相机外参数测量结果不受车辆加减速运动的影响，且其动态姿态测量精度明显高于精度为1o的惯性测量系统。由于该方法获得的姿态和高度数据是以道路平面为参考基准，尤其适用于单目视觉里程计中以辅助提高定位精度。
Abstract:In the application of visual odometer, acquiring the high-precision attitude and height of camera in real time helps to improve the visual positioning accuracy. But existing solutions are either expensive or low in precision, so we bring forward an real-time method to measure the camera’s external parameters based on the laser scanning of road surface. two 2D laser scanner orthogonal installed and downward scan, then the linear equation was estimated using the RANSAC algorithm. After that, road plane equation is obtained, which is the reference of the camera’s attitude and altitude data. the indoor experiment results showed that: in the static conditions, the measurement error of the attitude is about 0.1 degree, maximum height measurement error is about 6 mm; the outdoor dynamic experimental results showed that: different from the traditional method of inertial measurement, camera external parameters measurement results are not affected by the vehicle deceleration influence, and the attitude measurement precision is significantly higher than the inertial measurement system which has accuracy of 1 degree. Owing to obtaining the attitude and altitude data as the road plane for reference, the method is especially suitable for assist monocular visual odometry to improving the positioning accuracy.
文章编号：cg15000397 中图分类号： 文献标志码：
基金项目:博士后基金
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