相机姿态安装误差对单目视觉定位精度的影响

摘要

现有单目视觉定位方法由于相机姿态误差而存在定位精度不高的问题,但鲜见文献对此进行定量分析.针对该问题从定性分析和定量仿真的角度研究了相机姿态角的安装误差对单目视觉定位精度的影响.在距离为211.377 m的平坦直线道路上进行了三组实验,实验结果和仿真结果吻合较好,经相机姿态安装误差校正以后,三组实验中行驶轨迹弯曲的现象得到了纠正,并获得了最大误差0.45％的测距精度.所得结论对提高单目视觉定位精度具有指导意义.%Because of the attitude error of camera, the monocular visual odometry exists low precision. But there are few analysis on this problem. Aiming at this problem influence of attitude installation error of camera on precision of monocular visual odometry from the standpoint of qualitative analysis and quantitative simulation. 3 groups of experiments is carried out on an straight-and-even road which is 211.377 m long. The experimental result conforms to the simulation result. After calibration of installation error of camera attitude,the bent tracks of vehicle is rectified and the maximum ranging error is 0.45 %. The conclusion has guidance value in improving precision of monocular visual odometry.