基于視覺定位的地圖構(gòu)建方法研究.pdf

1、浙江大學(xué)信息與電子工程學(xué)系碩士學(xué)位論文基于視覺定位的地圖構(gòu)建方法研究姓名：王煒強(qiáng)申請學(xué)位級別：碩士專業(yè)：信息與通信工程指導(dǎo)教師：劉濟(jì)林20100101浙江大學(xué)碩士學(xué)位論文AbstractVisualNavigationisahotspotofrobotics，amongwhichvisuallocalizationperceptionandmappingareallthecoreissuesVisionbasedlocalization

2、andterrainperceptionmethodpossessestheadvantagesofhi曲accuracyandlowpowerespeciallythevisualodometryalgorithmownsliUleaccumulativeerrorcomparedwithIMUorwheelodometrylocalizationHence，thispaperproposedavisuallocalizationba

3、seddensemappingmethodandavisualnavigationsolutionThevisuallocalizationadoptsbinocularmotionestimatibntoobtaingloballocalizationandtrajectorywhichusesSIFTtotrackfeaturesbetweenframes，usesRANSACtemovemismatchingandleastsqu

4、aremethodtoobtainmotionestimationThispaperalsoproposedJointReliabilitybasedDisparityExpansionalgorithmtoimproveexistingalgorithm’SperformanceThispaperalsodesignsaselfcalibrationbasedwide—baselinestereomatchingmethodforlo

5、ngrangeterrainreconstructionMoreovera酊dbasedmappingmethodisdevelopedtobuildDEMmapandperformtheelevationthresholdingandoptionalslopeestimationfortraversabilityanalysisandtraversabilitymapbuildingFinallydynamicpathplanning

6、methodisusedtoguiderobotavoidallobstaclesandarrivethedestinationWithseriesofexperiments，thevisualnavigationsolutionproposedinthispaperisprovedtobefeasibleandrobustKeywords：VisualNavigation，VisualOdometryStereoMatching，Ma