Monocular vision and GNSS fused SLAM positioning method and system
The invention relates to a monocular vision and GNSS (Global Navigation Satellite System) fused SLAM (Simultaneous Localization and Mapping) method and system, which are used for realizing high-precision positioning in an unknown environment. Through a vision and GNSS fused monocular initialization...
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Format: | Patent |
Sprache: | chi ; eng |
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Zusammenfassung: | The invention relates to a monocular vision and GNSS (Global Navigation Satellite System) fused SLAM (Simultaneous Localization and Mapping) method and system, which are used for realizing high-precision positioning in an unknown environment. Through a vision and GNSS fused monocular initialization algorithm, the problem of solving a proportionality coefficient and coordinate transformation between position information and a real geographic position under monocular vision is solved. The information of a GNSS sensor is fully utilized, the error accumulation problem of a pure vision algorithm is solved through a vision and GNSS fusion positioning algorithm, and the positioning precision higher than that of the pure vision algorithm is obtained. According to the method, the proportionality coefficient and the coordinate transformation relation between the estimated position information and the real geographic position are successfully recovered, the precision and robustness of the system are improved, the positi |
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