车载视觉里程计发展现状与趋势研究

摘要

视觉里程计技术是一种仅利用场景图像信息完成运动参数解算的导航方式,在智能车辆自主定位定向方面具有良好的发展前景.总结了车载视觉里程计系统的主要优势和技术特点,介绍了其一般架构和应用系统;分析了视觉里程计系统的相机标定、特征提取匹配和运动参数估计等关键技术的发展现状;总结了高精度视觉里程计系统和高速视觉里程计系统的实现方案;详细描述了其中涉及的主要算法,为视觉里程计研究提供了参考.%Visual odometer technology is a navigation mode using only scene image information to calculate the motion parameters,which has good development prospects in positioning and orientation of the autonomous intelligent vehicles.In this paper,the main advantages and technical characteristics of vehicle visual odometer system is summarized and the general architecture and application systems are introduced.The development and current status of the crucial technologies of the odometer,such as camera calibration,feature extraction/matching algorithm,and motion parameter estimation,are mainly analyzed.The implementation schemes for high-precision vision odometer system and high-speed visual odometer system are proposed,and the main algorithms involved are described in detail,which may be taken as a reference for visual odometer research.