Research of visual pose measurement for two-feet navigation system
翁垚坤 1朱茂然 1武元新1
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作者信息
1. 上海交通大学,微米/纳米加工技术国家重点实验室,上海 200240
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摘要
以惯性传感器为主、其它传感器为辅的导航方式是室内导航领域的研究热点.文中以双足行人导航系统为研究背景,以足部固定标志物为标靶,设计了基于透视 n 点(Perspective-n-Point,PnP)问题的视觉位姿测量算法.针对双足行人导航系统中的位姿测量问题进行了仿真和实验,评估了单目相机估算位姿的精确性,实验结果验证了文中方法的有效性.
Abstract
The navigation method based on inertial sensors and assisted by other sensors is a research hots-pot in the field of indoor navigation.Based on the two-feet pedestrian navigation system,this paper designs a visual pose measurement algorithm for the two-feet system,for which the Perspective-n-Point(PnP)algo-rithm is used to obtain the foot pose with the fixed foot markers as the target.Simulation and experiment tests are both carried out to evaluate the accuracy of the pose estimation of the monocular camera.The re-sults show the effectiveness of the proposed method.
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