曾继超,许广富,刘锡祥

• 1:东南大学仪器科学与工程学院
• 2:微惯性仪表与先进导航技术教育部重点实验室

摘要(Abstract)：

针对行人在大型复杂建筑环境中的高精度和高可靠性室内定位需求,传统的基于视觉点特征方法易受环境纹理缺失、相机快速运动导致图像模糊而定位失效问题,提出了一种基于视觉点线特征与IMU紧耦合的行人室内自主定位方法。在视觉惯导融合导航系统框架下,前端部分,在点特征基础上引入结构化建筑环境中丰富的线特征,并采取基于梯度密度过滤机制的改进线特征提取策略,剔除局部线特征密集区域;利用点线特征与IMU紧耦合优化机制提高行人位姿估计及定位的准确性和稳定性。通过利用EuRoC数据集和在实际楼道场景下的实验,特别是在弱纹理、光照变化等条件下实验,验证了所提方法进行行人室内定位的准确性和可行性。

关键词(KeyWords)： 点线特征;IMU;梯度密度过滤机制;室内自主定位

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金项目(61973079,51979041)

作者(Author): 曾继超,许广富,刘锡祥

DOI: 10.16251/j.cnki.1009-2307.2021.07.004

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