基于双目视觉的室内定位标定新方法

New Method of Indoor Location Calibration Based on Binocular Vision

摘要:

随着全球导航卫星系统的发展,位置服务已经逐渐渗透到人们日常生活以及工作之中,并成为必不可少的一部分,越来越多的人开始习惯使用位置服务,并对其产生依赖,并且,室内导航定位应用需求日益增加;目前,基于多目视觉原理的室内定位导航技术已经成为众多技术领域的研究热点,且逐步成熟;室内导航定位中,为获取目标的准确位置,相机的标定过程是重中之重,标定精度对最终定位精度有着决定性作用;然而,当有气液界面存在时,由于不同介质折射率不同,视线在传播过程中将发生偏折,现有的线性标定技术不再适用,并成为制约室内特殊场景定位(如水下机器人作业)的主要技术障碍;针对有气液界面的条件提出了一种新的标定方法,对界面位置进行精确定位,并修正了线性针孔模型,能够有效解决有气液界面存在条件下不能准确标定的难题,克服了封闭体内测量时无法进行现场标定的困难;为验证标定方法的可行性与可靠性,进行了数值模拟,模拟结果显示,此方法误差较小,满足室内定位中的标定精度要求。

Abstract:

With the development of global navigation satellite systems, location based services has increasingly become an indispensable part of our personal and professional lives, as more and more people become accustomed to using positioning technology. With the increasing demand for indoor navigation applications, indoor positioning navigation technology based on multi-visual principles has become the center of many technical research efforts, and has matured throughout the past few years. However, when gas-liquid interface is involved, the linear calibration technique that is currently being used is no longer applicable due to the refraction of the line of sight during the propagation process, and therefore becomes the major technical barrier restricting indoor positioning under special circumstances (such as underwater robot operations). This paper proposes a new calibration method that accurately locates the interface position and corrects the linear pinhole model, which can effectively ensure the accuracy of calibration under the circumstances of gas-liquid interfaces, and make field calibration possible during closed measurement. To verify the feasibility and reliability of this calibration method, this paper conducted numerical simulation. Results show small margin of error and indicates that this method satisfies the calibration accuracy requirements in indoor positioning.