CN108481327A - A kind of positioning device, localization method and the robot of enhancing vision - Google Patents
A kind of positioning device, localization method and the robot of enhancing vision Download PDFInfo
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- CN108481327A CN108481327A CN201810543865.0A CN201810543865A CN108481327A CN 108481327 A CN108481327 A CN 108481327A CN 201810543865 A CN201810543865 A CN 201810543865A CN 108481327 A CN108481327 A CN 108481327A
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- 230000004807 localization Effects 0.000 title claims abstract description 16
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- 238000007781 pre-processing Methods 0.000 claims abstract description 11
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- 230000004927 fusion Effects 0.000 claims description 19
- 238000003384 imaging method Methods 0.000 claims description 15
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The present invention discloses a kind of positioning device, localization method and the robot of enhancing vision, which is a kind of moveable vision positioning device, including：Image capture module comprising the sweptback binocular camera of inclined camera knead dough is positioned at the different location of the positioning device forward, and the vision for enhancing the positioning device senses effect；Image processing module, including image preprocessing submodule and characteristic matching submodule, the image data for handling acquisition；Inertial data acquisition processing module, the rotation angle information for incuding inertial sensor in real time, acceleration information and translational velocity information；Locating module is merged, for being merged the environmental information acquired in each sensor assembly to realize the autonomous positioning of reliable and robust.Compared with the existing technology, using the fusing image data inertial data of characteristic matching and in conjunction with relative position relation more new landmark so that identification feature matching is more acurrate, enhances the robustness of location algorithm.
Description
Technical field
The present invention relates to localization method and devices, and in particular to a kind of positioning device, localization method and the machine of enhancing vision
Device people.
Background technology
Robot realizes that intelligence, a basic technology are oneself can to position and walk, and indoor navigation technology is wherein
Key technology.Indoor navigation technology has inertial sensor navigation, laser navigation, vision guided navigation, radionavigation etc. at present,
Each technology has the advantage and disadvantage of oneself.Inertial sensor navigation is to carry out navigator fix, price using gyroscope, odometer etc.
It is cheap, but there are problems that long time drift；Laser navigation precision is high, but price is relatively high, and the service life is also a problem；
Traditional vision guided navigation calculates complexity, and relatively high for processor performance requirement, power consumption and price can be relatively high；Nothing
Line electricity needs multiple fixed radio emitting sources, and using inconvenience, price is yet relatively high.The fusion of more technologies is realized low
Cost and high-precision are a developing direction of robot navigation's technology.
In existing vision sweeper product, camera is placed on before machine, is required for slightly protrusion under normal circumstances,
Relatively good visual angle can be obtained, is encountered by some objects for being difficult to detect however, being easy to cause camera eyeglass in this way,
It is easy to scratch eyeglass；And the sensor generally placed before machine is relatively more, such as many machines have bump bar and cylinder
360 degree of infrared receiving devices of shape, these are easy to block camera, and the angle of camera is caused to need to increase.
Invention content
A kind of positioning device of enhancing vision, which is a kind of moveable vision positioning device, including image
Acquisition module, image processing module, inertial data acquisition module and fusion locating module；
Image capture module, including canted shot head forward identify that the positioning device drives forwards direction for detecting
Object；Further include towards rear-inclined camera, for capturing ambient image to realize positioning；
Image processing module, including image preprocessing submodule and characteristic matching submodule, for handling in image capture module
The image data of acquisition；Wherein, image preprocessing submodule is used for the data conversion towards the acquisition of rear-inclined camera
For gray level image, characteristic matching submodule for extracted from the pretreated image of image preprocessing submodule characteristic with
Landmark image associated features in landmark data library are matched；The wherein described database is the ground built in image processing module
Database is marked, which includes the image characteristic point of given terrestrial reference associated area；
Inertial data acquisition processing module is made of a series of inertial data measuring units, incudes the rotation of inertial sensor in real time
Gyration information, acceleration information and translational velocity information；
Locating module is merged, for camera to be adopted as a result, faying face turns forward according to the characteristic matching in image processing module
The image data of collection carries out data fusion to the inertial data of inertial data acquisition processing module acquisition, then passes through data fusion
Modified result current location information.
Further, the first half that the head of canted shot forward is positioned at the positioning device top surface be open to
At preceding recessed and/or projective structure.
Further, it is described towards rear-inclined camera be the identical binocular camera of imaging parameters, the binocular camera
Two cameras be abreast positioned at the tail portion opening recessed and/or projective structure backward of the positioning device top surface
Place.
Further, the optic axis of the camera inclined forward and the sweptback camera in the face with it is described
The angle that positioning device top surface is formed slopely is all across 0-80 degree, and their angle keeps equal.
Further, it in the fusion locating module, when the characteristic matching success in described image processing module, obtains
The coordinate being marked on describedly in map, the coordinate in conjunction with the positioning device relative to the terrestrial reference calculate the positioning dress
The coordinate in map is set, and is corrected using inertial data update；
When the characteristic matching failure in described image processing module, the inertia is found out according to the accumulated value of the inertial data
The rigid connection relationship of sensor and the head of canted shot forward, then in conjunction with it is described towards rear-inclined camera according to a left side
The relative attitude of the target image that right binocular parallax obtains and the landmark image associated features in landmark data library calculates new
Terrestrial reference and storage be recorded in the landmark data library, complete the establishment of new road sign；
Wherein, the inertial sensor is to the canted shot head forward, the head of canted shot forward to the gray scale
All there is mapping associations for characteristics of image or landmark image associated features, while feature can be extracted by the gray level image
It obtains；The rigid connection relationship is the inertia number between the adjacent two field pictures acquired based on the head of canted shot forward
Change the position relationship set up according to corresponding pose.
A kind of localization method of enhancing vision, the localization method are applied to the positioning device, include the following steps：
Two cameras towards rear-inclined camera acquire same terrestrial reference in actual scene and obtain left image and the right side respectively
Image determines the image-region of characteristic point as template, accordingly in right image extraction and the template size in left image
Identical image-region completes row gradient of disparity constrained matching；Smallest match value is chosen in the matching value of acquisition, and will most
Image-region corresponding to small matching value description that is generated from target area and is stored in landmark data as target area
Description of landmark image associated features in library carries out characteristic matching；According to the imaging of the target area and the terrestrial reference
Feature geometries relationship calculates coordinate of the positioning device relative to the terrestrial reference；
Judge whether the target area matches with the landmark image associated features in landmark data library, is to obtain describedly
The coordinate being marked in map, the coordinate in conjunction with the positioning device relative to the terrestrial reference calculate the positioning device on ground
Coordinate in figure, and corrected using inertial data update, complete the real-time positioning of the positioning device；
Otherwise, according to the rigid connection relationship of the inertial sensor and the head of canted shot forward, to the inertia number
According to being merged, the characteristic point in conjunction with the target area is opposite with the landmark image associated features point in landmark data library
Posture, calculates new terrestrial reference and storage is recorded in the landmark data library, completes the establishment of new road sign；
Wherein, the inertial data has been subjected to calibration and is filtered, and the rigid connection relationship is based on described towards top rake
The corresponding pose variation of the inertial data between the adjacent two field pictures of camera acquisition and the position relationship set up.
Further, the characteristic matching process includes：Under current frame image, retouching for the target area feature is calculated
State the Hamming distance between son description corresponding with the landmark image associated features in the landmark data library；
If the Hamming distance be less than predetermined threshold value, then it represents that it is described towards rear-inclined camera acquisition come in image with it is described
The associated features similarity of the corresponding landmark image is high in landmark data library, is considered as successful match；
The wherein described predetermined threshold value corresponds to the numerical relation of a determining relative attitude.
Further, the fusion inertial data includes：When the characteristic matching fails, according to described towards top rake
The corresponding pose variation of the inertial data between the adjacent two field pictures of camera acquisition, find out the inertial sensor with it is described
The rigid connection relationship of inclined camera forward, known to the camera internal reference inclined forward, root
It is pre- that the inertial sensor is calculated according to the rigid connection relationship of the inertial sensor and the head of canted shot forward
The feature point coordinates of the current frame image of survey, the feature point coordinates for the current frame image that the inertial sensor is predicted with it is described
The characteristic point coordinate pair ratio of the current frame image of canted shot head acquisition forward acquires the camera inclined forward
The feature point coordinates of present image be updated amendment.
Further, the imaging features geometrical relationship is based on the right image acquired towards rear-inclined camera
What the position relationship of the road sign in the actual scene of the parallax and acquisition of target area and the target area of left image was set up
Similar triangles relationship.
A kind of robot, the robot are a kind of mobile robots of the installing positioning device.
The present invention provides a canted shot head forward, identifies that the positioning device drives forwards direction for detecting
Object and establish the rigid connection relationship of inertial sensor and the head of canted shot forward, realize to the inertial data
It is merged, the sweptback binocular camera in face is also provided, for capturing ambient image according to geometrical relationship to realize binocular
Positioning；Compared with the existing technology, the camera that multiple and different orientation are installed in the present invention is respectively to detect cognitive disorders object and determine
Position navigation procedure acquires image data, improves the precision of detection terrestrial reference, while multiple cameras share out the work and help one another realization positioning, mitigate
The operand of memory source shortens feature search time, improves navigation efficiency.
Description of the drawings
Fig. 1 is a kind of module frame figure of the positioning device for enhancing vision that present invention implementation provides；
Fig. 2 is a kind of localization method flow chart for enhancing vision that present invention implementation provides；
Fig. 3 is a kind of robot system architecture's figure for enhancing vision that present invention implementation provides（Binocular camera is located in described
At the projective structure of positioning device surface）.
Specific implementation mode
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings：
A kind of positioning device of enhancing vision in the embodiment of the present invention is implemented in a manner of robot, including machine of sweeping the floor
People, AGV etc. mobile robot.The obstacle avoidance apparatus is assumed below to be installed on sweeping robot.However people in the art
Member is it will be appreciated that other than being used in particular for mobile robot, construction energy expanded application according to the embodiment of the present invention
In mobile terminal.
The present invention provides a kind of positioning device of enhancing vision, which is a kind of moveable vision positioning
Device, as shown in Figure 1, including image capture module, image processing module, inertial data acquisition module and fusion locating module.
Image capture module, including canted shot head forward identify that the positioning device drives forwards the object on direction for detecting
Body；Further include the sweptback camera in face, for capturing ambient image to realize positioning.In the positioning device advance process
In, canted shot head is placed on before the positioning device forward, is required for slightly protrusion under normal circumstances, keeps default
Angle can obtain relatively good visual angle, because be provided with bump bar and cylinder in embodiments of the present invention 360 degree are red
Infrared receiving device, these are easy to block the camera, and camera is caused to keep predetermined angle that can obtain relatively good regard
Angle is used for object detection instead so canted shot head is not used in assisting navigation positioning forward, is especially filled to the positioning
It sets the object driven forwards on direction and carries out target identification analysis.The tail of the positioning device is placed on towards rear-inclined camera
Portion carries out location navigation by acquiring identifiable terrestrial reference.When turning to the positioning device, in described image acquisition module
Canted shot head can use the spy to be navigated on the return path by the image data captured towards rear-inclined camera forward
Sign and/or terrestrial reference.
Preferably, as shown in figure 3, the head of canted shot forward 108 is positioned at the positioning device top surface
At first half recessed structure for opening forward, identify that the positioning device drives forwards the object on direction for detecting；Specifically
Ground, which only does object identification and detection of obstacles, but is not used in location navigation.It is described towards rear-inclined camera
It is positioned at the projective structure of the tail portion opening of the positioning device top surface backward.Institute is avoided by the camera postposition
It states camera to be collided or blocked, is particularly suited for capturing ambient image to realize precise positioning；Specifically, described towards leaning forward
The angle model that oblique camera 108 and the optic axis towards rear-inclined camera are all formed with the positioning device top surface
It is trapped among near 45 degree, increases the effective field of view of the positioning device, prevent undesired imaging problem, may such as prevent institute
Light reflection and/or the refraction for stating the effective imaging features of camera, to be particularly suited for the positioning under indoor environment and mapping.
Further, the first half that the head of canted shot forward 108 is positioned at the positioning device top surface is opened
At the forward recessed and/or projective structure of mouth, it is usually used in navigator fix in the prior art, but only do object in the present invention is implemented
Body identifies and detection of obstacles, because preposition camera can block camera lens during the positioning device drives forwards
The phenomenon that be unfavorable for real-time location navigation, and can pass through after being blocked and identify that the feature of shielded image carries out target identification.Opening
Although forward recessed and/or projective structure is easily blocked, but specific visual angle can be provided for camera, is caught to improve
Obtain the precision of the characteristic angle of image.
Further, it is described towards rear-inclined camera be the identical binocular camera of imaging parameters, as shown in figure 3, should
Binocular camera is divided into left camera 106L and right camera 106R, they are abreast positioned at the positioning device top surface
Tail portion opening projective structure backward at, left camera 106L and right camera 106R drove forwards in the positioning device
The phenomenon that camera lens is blocked in journey can be reduced, and prevented undesired imaging problem, such as the camera may be prevented effectively to be imaged
The light reflection of feature and/or refraction, to be particularly suited for the real-time location navigation under indoor environment.
Specifically, as shown in figure 3, the head of canted shot forward 108 with it is described corresponding towards rear-inclined camera
The angle that the optic axis and the positioning device top surface of left camera 106L and right camera 106R is formed slopely all across
0-80 degree, and it is acute angle ɑ that they, which are formed by angle of inclination all, can generally define 45 degree, to ensure to obtain true imaging spy
Property good approximation effect, improve detection terrestrial reference feature precision.
As shown in Figure 1, image processing module, including image preprocessing submodule and characteristic matching submodule, for handling
The image data acquired in image capture module.Wherein, image preprocessing submodule receives the figure acquired in image capture module
As data repeat identifiable unique terrestrial reference to be established in ambient enviroment, and by described towards the acquisition of rear-inclined camera
Color image data binarization, is converted to gray level image, completes the preprocessing process of image；Then characteristic matching submodule from
Characteristic is extracted in the pretreated image of image preprocessing submodule, and associated with the landmark image in landmark data library
Feature is matched.
Wherein, the landmark data library is the landmark data library built in image processing module, which includes giving
Determine the image characteristic point of terrestrial reference associated area.The landmark data library includes the information of the terrestrial reference about many previous observations,
The positioning device can be acted using the terrestrial reference to execute navigator fix.Terrestrial reference is considered with specific two-dimensional structure
Feature set.Any one of various features can be used for identifying terrestrial reference, when the positioning device is configured as house
When clean robot, terrestrial reference may be one group of feature of the two-dimensional structure identification of corner of the (but not limited to) based on photo frame.In this way
Feature based on the static geometry in room, although and feature have certain illumination and dimensional variation, their phases
Quilt is generally easier for the object in the lower region of the environment of continually displacement (such as chair, dustbin, pet etc.)
Distinguish and be identified as terrestrial reference.
As shown in Figure 1, inertial data acquisition processing module, is made of a series of inertial data measuring units, incude in real time
The rotation angle information of inertial sensor, acceleration information and translational velocity information；The module by inertial sensor for being adopted
Collect inertial data, then carries out calibrating to be filtered being transmitted to fusion locating module.The original data processing of the inertial data includes
The shielding of maximum value and minimum value；Static drift is eliminated；The Kalman filtering of data.Wherein inertial sensor include odometer,
Gyroscope, accelerometer etc. are used for the sensor of inertial navigation.The data of these inertial sensors acquisition are in subsequent processes
In be based on the optical flow observed between consecutive image come the image of acquisition and tracking terrestrial reference and determine advance distance and obtain light
Stream range-measurement system is learned, the sensor combinations that specific images match requires are suitable for.
As shown in Figure 1, fusion locating module, is used for according to the characteristic matching in image processing module as a result, in conjunction with described
The image data of canted shot head acquisition forward carries out data to the inertial data of inertial data acquisition processing module acquisition and melts
It closes, then passes through data fusion modified result current location information.The module is based on canted shot head and the face forward
The image for tilting backwards camera acquisition, in conjunction with the travel distance acquired in inertial sensor, the new image information that will be obtained
It is matched with the corresponding landmark image being stored in landmark data library, then carries out data fusion to realize positioning.
Specifically, in the fusion locating module, when the characteristic matching success in described image processing module, institute is obtained
The coordinate being marked on stating in map, the coordinate in conjunction with the positioning device relative to the terrestrial reference, you can calculate the positioning
Coordinate of the device in map, and corrected using inertial data update；Characteristic matching in described image processing module
When failure, the rigidity of the inertial sensor and the head of canted shot forward is found out according to the accumulated value of the inertial data
Connection relation, then in conjunction with the target image obtained according to left and right binocular parallax towards rear-inclined camera and landmark data
The relative attitude of landmark image associated features in library, calculates new terrestrial reference and storage is recorded in the landmark data library
In, complete the establishment of new road sign；Wherein, the rigid connection relationship be acquired based on the head of canted shot forward it is adjacent
The corresponding pose of the inertial data changes the position relationship set up between two field pictures；The inertial sensor is to the face
Turn forward camera, and the head of canted shot forward is all deposited to the gray level image feature or landmark image associated features
In mapping association, while feature can be extracted by the gray level image and be obtained, and by rigid connection relationship, use continuous two
The inertial sensor data between frame image is iterated operation, obtains the predicted value of the current location of the positioning device,
So that region of search smaller when characteristic matching, matching speed is faster.
In the embodiment of the present invention, the head of canted shot forward 108 and the left camera shooting towards rear-inclined camera
These images are simultaneously supplied to described image processing module by the image of head 106L and right the captured ambient enviroments of camera 106R.Institute
It states positioning device and the head of canted shot forward 108 can be used to detect one group of feature associated with terrestrial reference but cannot be used for
Location navigation in turn is matched with the landmark image in the landmark data library, while being moved forwards upwardly toward terrestrial reference；When
Identical one group of feature is tracked towards rear-inclined camera using described when moving conversion direction, at this moment can use the face
It tilts backwards camera and carries out location navigation, while controlling the positioning device and being moved far from terrestrial reference.The positioning device can make
With the head of canted shot forward 108 and it is described capture the image of ambient enviroment simultaneously towards both rear-inclined cameras,
Thus to make the positioning device with the greater portion of capture of less time ambient enviroment than single camera, also because of two kinds
Camera play effect connect each other, common supplemental characteristic match cognization and save memory calculation resources.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of localization method of enhancing vision, due to the use of
The hardware device that the localization method solves orientation problem is based on a kind of aforementioned positioning device of enhancing vision, therefore the positioning side
The embodiment of method may refer to a kind of application implementation of the positioning device of aforementioned enhancing vision.In the specific implementation, of the invention
The localization method for a kind of enhancing vision that embodiment provides, as shown in Fig. 2, specifically including：
Step 1: two cameras towards rear-inclined camera acquire same terrestrial reference in actual scene respectively, to binocular
The image of camera acquisition carries out analysis and identification, extracts image pair.When left image and right image contain corresponding terrestrial reference,
Pixel extracts an image-region as template using centered on characteristic point in left image, determines the seat of the central pixel point of left image
Mark.Another image-region is extracted as search window, then in the search window using point centered on characteristic point in right image
Extraction image-region identical with the pixel size of the template so that the image-region of extraction carries out parallax with the template
Gradient constraint matches, to reduce the corner feature of error hiding, wherein gradient of disparity constrained matching carrying as matching characteristic point
Pure algorithm, specially:In the search window of right image, a pixel is from left to right translated successively, with template progress
Match.When in the corner feature matching value of acquisition choose smallest match value when, using the image-region corresponding to smallest match value as
Target area.
Further, according to the imaging features geometrical relationship of the target area and the terrestrial reference, the positioning is calculated
Coordinate of the device relative to the terrestrial reference；
Retouching from description generated in target area and the landmark image associated features that are stored in landmark data library simultaneously
State sub- carry out characteristic matching；Specifically, height is being carried out from the image for the target area that binocular camera shooting identification obtains
This is filtered, and removes noise, then carry out gray processing；Feature point extraction is carried out to gray level image, characteristics of image is generated, will extract
Characteristic point be compared with the pixel grey scale of 256 positions in the field of this feature point, with binary recording as a result, 0 indicates
The pixel grey scale of characteristic point is less than any one of 256 pixel grey scales in the field of this feature point, and 1 indicates the pixel of characteristic point
Gray scale is more than any one of 256 pixel grey scales in the field of this feature point, and result is stored in conduct in the vector of 256 dimensions
Description of this feature point.The field of this feature point be comprising centered on this feature point, using r as the disk of radius, the value of r
It is determined according to the gradation of image of target area.
Step 2: description of the gray level image feature of the target area is matched, matching object is storage
Landmark image associated features in landmark data library equally handle to obtain corresponding feature to the landmark image gray processing
Description of point, by description generated in target area and the landmark image associated features that are stored in landmark data library
Description carries out characteristic matching.
Step 3: judging that the gray level image feature of the target area is associated with the landmark image in landmark data library special
Whether sign matches, and is to obtain the coordinate being marked on describedly in map, the seat in conjunction with the positioning device relative to the terrestrial reference
Mark, calculates coordinate of the positioning device in map, the positioning device present bit is obtained by the inertial sensor
The predicted position coordinate set, and the current position coordinates amendment is updated, an accurate current position coordinates are obtained, are completed
The real-time positioning of the positioning device.
Otherwise it according to the rigid connection relationship of the inertial sensor and the head of canted shot forward, merges described used
Property data prediction go out the feature point coordinates in present frame landmark image, then in conjunction with characteristic point and the terrestrial reference number of the target area
According to the relative attitude of the landmark image associated features point in library, calculates new terrestrial reference and storage is recorded in the landmark data
In library, the establishment of new road sign is completed.Wherein, the inertial data has been subjected to calibration and is filtered；The inertial data includes angle
Speed, acceleration and range information；The rigid connection relationship is adjacent two acquired based on the head of canted shot forward
The corresponding pose of the inertial data changes the position relationship set up between frame image.
As a kind of mode for implementing of the present invention, in the step 2, the characteristic matching process includes：In present frame figure
As under, description description corresponding with the landmark image associated features in the landmark data library of target area feature is calculated
Between Hamming distance；If the Hamming distance is less than predetermined threshold value, then it represents that the figure that the binocular camera matching treatment is crossed
As the associated features similarity height of the landmark image corresponding with the landmark data library, it is considered as successful match.Specifically
Ground carries out characteristic matching, by many experiments table by calculating the Hamming distance of description of characteristic point in the present invention is implemented
Bright, for the Hamming distance of description for the characteristic point that it fails to match 128 or so, the characteristic point of successful match describes sub Hamming
Distance is then much smaller than 128；Description and the retouching in the image template of the database of the characteristics of image of the i.e. described target area
The feature coding for stating son corresponds to the number of identical element on the positions bit and is less than 128, is not centainly to match；Feature on one width figure
The largest number of characteristic points of identical element can match on the point positions bit corresponding with feature coding on another width figure.Wherein institute
The characteristic point for stating target area described in predetermined threshold value correspondence present invention implementation is associated with the landmark image in landmark data library
The numerical relation of the relative attitude of characteristic point, is set as 128 in embodiments of the present invention.The relative attitude depends on the face
One or more of identifiable associated two-dimensional space feature of terrestrial reference in the image of camera acquisition is tilted backwards, relatively
Posture estimation also as the variation of the various sensors configureds of the positioning device and change.
As a kind of mode for implementing of the present invention, in the step 3, the fusion inertial data includes：When the feature
When it fails to match, according to the corresponding pose of the inertial data between the adjacent two field pictures of the head of canted shot forward acquisition
Variation, finds out the rigid connection relationship of the inertial sensor and the head of canted shot forward, described towards top rake
In the case of camera internal reference is known, according to the rigid connection relationship of the inertial sensor and the head of canted shot forward
The feature point coordinates of the current frame image of the inertial sensor prediction is calculated, the inertial sensor is predicted current
The characteristic point coordinate pair ratio of the feature point coordinates of frame image and the current frame image of the head of canted shot forward acquisition, to institute
The feature point coordinates for stating the present image of canted shot head acquisition forward is updated amendment.
Specifically, the inertial sensor gives a forecast motion model, and the head of canted shot forward does observation model, institute
The rigid body stated between inertial sensor and the head of canted shot forward is connected to the parameter value to be estimated；In two continuous frames
Between image, caused by calculating translation caused by the accumulated value of the inertial data, including speed and acceleration and angular speed
Rotation, because there are an inertia sensor to the canted shot head forward, the head of canted shot forward to figure
Picture, the mapping association of image to feature, while characteristic point can be obtained by image zooming-out, according to the same characteristic point in image
In imaging uniqueness principle, build one optimization equation, using the inertia sensor provide posture be iterated as initial value
It solves.Then optimal estimated into what row information merged to obtain under a least square meaning using the covariance information of prediction and observation
Meter, update are corrected and obtain accurate coordinate value of the positioning device under current location.
Between the head of canted shot forward shoots two continuous frames image, records the inertial data and add up
Operation obtains the pose transformation of inertial sensor record between two continuous frames, using the inertia sensor arrive described in towards
Fixed rotation and translation transformation relation between top rake camera, the pose for being converted into the canted shot head forward become
It changes, coordinate of the characteristic coordinates in present frame of previous frame is obtained further according to the head of the canted shot forward internal reference matrix；Work as institute
Aforementioned conversion method is used when stating characteristic matching failure, present image is predicted by the current position coordinates that inertial sensor obtains
Coordinate, and with the characteristic point coordinate pair ratio in present image feature, the feature point coordinates in present image feature is updated
It corrects, and is stored back into new landmark of the landmark data library as the establishment under current location.When characteristic matching success,
The coordinate that described image processing module pre-processes to obtain the gray level image feature passes through the imaging features geometrical relationship operation
Obtained current position coordinates are compared with the current position coordinates that the inertial sensor obtains, i.e., by observation model to pre-
Modifying model is surveyed, to realize that the amendment of the current position coordinates obtained by the characteristic point updates.So when the positioning fills
Set oneself not being matched in input picture know terrestrial reference there are when, optionally attempt create new landmark.
As a kind of mode for implementing of the present invention, in the step 3, the imaging features geometrical relationship is based on described
The camera lens towards rear-inclined camera of predetermined position is towards angle ɑ（As shown in Figure 3）The image combination institute of upper acquisition
It states the position relationship that the inertial data that inertial sensor sensing road sign is acquired corresponds to and sets up.It is described towards hypsokinesis
Tiltedly camera shooting head model uses traditional pin-hole model, and described is it is known that in conjunction with positioning dress towards rear-inclined camera internal reference
The triangulation that the distance of feature and position are made on the road sign for advancing and shooting in the process is set, the geometry of similar triangles is built
Relationship can calculate two-dimensional coordinate of the individual features angle point in the camera coordinate system towards rear-inclined on road sign.
Specifically, using the coordinate of central pixel point described in right image, central pixel point described in left image is subtracted
Coordinate obtains parallax；Parallax is substituted into binocular ranging formula, calculates the distance in the binocular camera to actual scene, it is double
Range estimation is as follows away from formula:
Wherein, T is binocular camera spacing, and f is the focal length of binocular camera, and x is parallax, and Z is the terrestrial reference to described pair
The distance of mesh camera.
As a kind of robotic embodiment that the present invention is implemented, a kind of structure chart of sweeping robot is provided in Fig. 3, can be made
A kind of concrete application product structure figure of the positioning device of the enhancing vision provided in implementing for the present invention, for convenience of description,
It illustrates only and the relevant part of the embodiment of the present invention.In the positioning device image processing module with merge built in locating module
In signal-processing board 102；Image capture module includes camera 106, wherein be binocular camera towards rear-inclined camera,
Two cameras in left and right are respectively camera 106L and camera 106R, and the tail portion for being abreast installed in body 101 is protruded backward
At structure so that it is described towards rear-inclined camera far from collision detection sensor 105, avoid being difficult to the object detected by some
Body is encountered；The optic axis of the camera 106R and camera 106L forms certain inclination with the positioning device top surface
Angle ɑ so that the binocular camera has preferable observed bearing.
Image capture module further includes canted shot head 108 forward；Wherein canted shot head 108 is installed in machine forward
The first half of body 101 is backwardly recessed at structure, optic axis and the positioning device top of the head of canted shot forward 108
Surface forms certain angle of inclination ɑ so that the head of canted shot forward 108 far from collision detection sensor 105, to
Make forward canted shot head have preferable angular field of view.Inertial data acquisition module includes collision detection sensor 105, is used to
Property data acquisition module sensed under the action of moving wheel 104 and universal wheel 107 drive body 101, the inertial data
The data of acquisition module, camera 106R and camera 106L acquisition by with the relative pose and rigid connection relationship into
Row fusion correction position coordinate, and then location navigation action is executed, the landmark data library can also be updated to be led as structure
The foundation of boat map.The current location for the sweeping robot that last 103 output signal processing board of man-machine interface is calculated
Accurate coordinate numerical value.
Above example be only it is fully open is not intended to limit the present invention, all creation purports based on the present invention, without creating
Property labour equivalence techniques feature replacement, should be considered as the application exposure range.
Claims (10)
1. a kind of positioning device of enhancing vision, which is a kind of moveable vision positioning device, which is characterized in that
Including image capture module, image processing module, inertial data acquisition module and fusion locating module；
Image capture module, including canted shot head forward identify that the positioning device drives forwards direction for detecting
Object；Further include towards rear-inclined camera, for capturing ambient image to realize positioning；
Image processing module, including image preprocessing submodule and characteristic matching submodule, for handling in image capture module
The image data of acquisition；Wherein, image preprocessing submodule is used for the data conversion towards the acquisition of rear-inclined camera
For gray level image, characteristic matching submodule for extracted from the pretreated image of image preprocessing submodule characteristic with
Landmark image associated features in landmark data library are matched；The wherein described database is the ground built in image processing module
Database is marked, which includes the image characteristic point of given terrestrial reference associated area；
Inertial data acquisition processing module is made of a series of inertial data measuring units, incudes the rotation of inertial sensor in real time
Gyration information, acceleration information and translational velocity information；
Locating module is merged, for camera to be adopted as a result, faying face turns forward according to the characteristic matching in image processing module
The image data of collection carries out data fusion to the inertial data of inertial data acquisition processing module acquisition, then passes through data fusion
Modified result current location information.
2. positioning device according to claim 1, which is characterized in that the head of canted shot forward is positioned at the positioning
The first half of device top surface is for opening forward recessed and/or projective structure at.
3. positioning device according to claim 1, which is characterized in that described identical for imaging parameters towards rear-inclined camera
Binocular camera, the tail portion that two cameras of the binocular camera are abreast positioned at the positioning device top surface is opened
At the recessed and/or projective structure of mouth backward.
4. according to any one of claim 1 to claim 3 positioning device, which is characterized in that described inclined forward
The angle that the optic axis and the positioning device top surface of the sweptback camera of camera and the face are formed slopely is all
Across 0-80 degree, and their angle keeps equal.
5. positioning device according to claim 1, which is characterized in that in the fusion locating module, when described image processing
When mould characteristic matching in the block is successful, the coordinate being marked on describedly in map is obtained, in conjunction with the positioning device relative to described
The coordinate of terrestrial reference is calculated coordinate of the positioning device in map, and is corrected using inertial data update；
When the characteristic matching failure in described image processing module, the inertia is found out according to the accumulated value of the inertial data
The rigid connection relationship of sensor and the head of canted shot forward, then in conjunction with it is described towards rear-inclined camera according to a left side
The relative attitude of the target image that right binocular parallax obtains and the landmark image associated features in landmark data library calculates new
Terrestrial reference and storage be recorded in the landmark data library, complete the establishment of new road sign；
Wherein, the inertial sensor is to the canted shot head forward, the head of canted shot forward to the gray scale
All there is mapping associations for characteristics of image or landmark image associated features, while feature can be extracted by the gray level image
It obtains；The rigid connection relationship is the inertia number between the adjacent two field pictures acquired based on the head of canted shot forward
Change the position relationship set up according to corresponding pose.
6. a kind of localization method of enhancing vision, which is characterized in that the localization method is applied to claim 1 to claim
Any one of 5 positioning devices, include the following steps：
Two cameras towards rear-inclined camera acquire same terrestrial reference in actual scene and obtain left image and the right side respectively
Image determines the image-region of characteristic point as template, accordingly in right image extraction and the template size in left image
Identical image-region completes row gradient of disparity constrained matching；Smallest match value is chosen in the matching value of acquisition, and will most
Image-region corresponding to small matching value description that is generated from target area and is stored in landmark data as target area
Description of landmark image associated features in library carries out characteristic matching；According to the imaging of the target area and the terrestrial reference
Feature geometries relationship calculates coordinate of the positioning device relative to the terrestrial reference；
Judge whether the target area matches with the landmark image associated features in landmark data library, is to obtain describedly
The coordinate being marked in map, the coordinate in conjunction with the positioning device relative to the terrestrial reference calculate the positioning device on ground
Coordinate in figure, and corrected using inertial data update, complete the real-time positioning of the positioning device；
Otherwise, according to the rigid connection relationship of the inertial sensor and the head of canted shot forward, to the inertia number
According to being merged, the characteristic point in conjunction with the target area is opposite with the landmark image associated features point in landmark data library
Posture, calculates new terrestrial reference and storage is recorded in the landmark data library, completes the establishment of new road sign；
Wherein, the inertial data has been subjected to calibration and is filtered, and the rigid connection relationship is based on described towards top rake
The corresponding pose variation of the inertial data between the adjacent two field pictures of camera acquisition and the position relationship set up.
7. localization method according to claim 6, which is characterized in that the characteristic matching process includes：In current frame image
Under, calculate the description description corresponding with the landmark image associated features in the landmark data library of the target area feature
Hamming distance between son；
If the Hamming distance be less than predetermined threshold value, then it represents that it is described towards rear-inclined camera acquisition come in image with it is described
The associated features similarity of the corresponding landmark image is high in landmark data library, is considered as successful match；
The wherein described predetermined threshold value corresponds to the numerical relation of a determining relative attitude.
8. localization method according to claim 6, which is characterized in that the fusion inertial data includes：When the feature
When with failure, become according to the corresponding pose of the inertial data between the adjacent two field pictures of the head of canted shot forward acquisition
Change, the rigid connection relationship of the inertial sensor and the camera inclined forward is found out, described towards top rake
Camera internal reference it is known in the case of, closed according to the rigid connection of the inertial sensor and the head of canted shot forward
The feature point coordinates of the current frame image of the inertial sensor prediction is calculated in system, works as what the inertial sensor was predicted
The characteristic point coordinate pair ratio of the feature point coordinates of prior image frame and the current frame image of the head of canted shot forward acquisition, it is right
The feature point coordinates of the present image of the camera acquisition inclined forward is updated amendment.
9. localization method according to claim 6, which is characterized in that the imaging features geometrical relationship be based on it is described towards
In the target area of right image and the parallax of target area and the actual scene of acquisition of left image of the acquisition of rear-inclined camera
Road sign the similar triangles relationship set up of position relationship.
10. a kind of robot, which is characterized in that the robot is that a kind of install positions as described in any one of claim 1 to 5
The mobile robot of device.
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