Relative pose estimation method of monocular mobile robot

WANG Jun; XU Xiaofeng; DONG Mingli; SUN Peng; CHEN Min

doi:10.5768/JAO201940.0401002

Journal of Applied Optics > 2019 > 40(4): 535-541. > DOI: 10.5768/JAO201940.0401002

WANG Jun, XU Xiaofeng, DONG Mingli, SUN Peng, CHEN Min. Relative pose estimation method of monocular mobile robot[J]. Journal of Applied Optics, 2019, 40(4): 535-541. DOI: 10.5768/JAO201940.0401002

Citation:

WANG Jun, XU Xiaofeng, DONG Mingli, SUN Peng, CHEN Min. Relative pose estimation method of monocular mobile robot[J]. Journal of Applied Optics, 2019, 40(4): 535-541. DOI: 10.5768/JAO201940.0401002

Citation:

WANG Jun, XU Xiaofeng, DONG Mingli, SUN Peng, CHEN Min. Relative pose estimation method of monocular mobile robot[J]. Journal of Applied Optics, 2019, 40(4): 535-541. DOI: 10.5768/JAO201940.0401002

PDF (690 KB)

Relative pose estimation method of monocular mobile robot

1.
School of Instrument Science and Opto-Electronics Engineering, Beijing Information Science & Technology University, Beijing 100192, China
2.
School of Electro-Optical Engineering, Changchun University of Science & Technology, Changchun 130022, China
3.
Beijing Key Laboratory of Measurement and Control of Mechanical and Electrical System, Beijing Information Science & Technology University, Beijing 100192, China

More Information

Received Date: December 20, 2018
Revised Date: March 14, 2019

Graphical Abstract

Abstract

Abstract

During the movement of the monocular robot, the camera pose cannot be recovered due to the extremely short base line between the key frames.Aiming at this problem, an iterative optimization algorithm of essential matrix was proposed to quickly decompose the relative pose relationship of robot by using the known specific reference objects. In this method, firstly, the estimated value of essential matrix is obtained using a specific reference with clear three-dimensional information. Then, the essential matrix is iteratively optimized with the matched feature point groups of adjacent key frames and the estimated value of essential matrix. Finally, the estimation of translation vector is obtained by the constraint relation of essential matrix, and the estimation of rotation matrix is obtained based on Lie group. The unique solution is obtained by further optimization. The problem that the relative pose of the camera cannot be restored due to the too short base line is avoided in this method. The experimental results show that the relative pose relationship of the robot can be quickly solved and optimized in this new method, and the absolute error of relative displacement estimation is less than 0.03 m, which is superior to the traditional method.
- relative pose estimation,
- essential matrix,
- iteratively computing,
- Lie group

FullText(HTML)

References (15)

References

[1]	SMITH R, SELF M, CHEESEMAN P. Estimating uncertain spatial relationships in robotics: Proceedings of 1987 IEEE International Conference on Robotics and Automation, March 31-April 3, 1987[C]. USA: IEEE, 1987: 850-850.
[2]	FEDER H J S, LEONARD J J, SMITH C M. Adaptive mobile robot navigation and mapping[J]. The International Journal of Robotics Research, 1999, 18(7): 650-668. doi: 10.1177/02783649922066484
[3]	陈卫东, 张飞.移动机器人的同步自定位与地图创建研究进展[J].控制理论与应用, 2005(3): 455-460. doi: 10.3969/j.issn.1000-8152.2005.03.022 CHEN Weidong, ZHANG Fei. Review on the achievements in simultaneous localization and map building for mobile robot[J]. Control Theory & Applications, 2005, 22(3): 455-460. doi: 10.3969/j.issn.1000-8152.2005.03.022
[4]	刘洁, 平雪良, 齐飞, 等.基于视觉跟踪的机器人测量方法与实现[J].应用光学, 2016, 37(5): 686-692. http://www.cnki.com.cn/Article/CJFDTotal-YYGX201605009.htm LIU Jie, PING Xueliang, QI Fei, et al. Method and implementation of robot measurement based on visual tracking[J]. Journal of Applied Optics, 2016, 37(5): 686-692. http://www.cnki.com.cn/Article/CJFDTotal-YYGX201605009.htm
[5]	权美香, 朴松昊, 李国.视觉SLAM综述[J].智能系统学报, 2016, 11(6): 768-776. http://d.old.wanfangdata.com.cn/Periodical/kjkzjsyyy201902001 QUAN Meixiang, PIAO Songhao, LI Guo. An overview of visual SLAM[J]. CAAI Transactions on Intelligent Systems, 2016, 11(6): 768-776. http://d.old.wanfangdata.com.cn/Periodical/kjkzjsyyy201902001
[6]	缪立军, 车自远.基于自适应下采样的移动机器人视觉定位技术[J].应用光学, 2017, 38(3): 429-433. http://www.cnki.com.cn/Article/CJFDTOTAL-YYGX201703014.htm MIAO Lijun, CHE Ziyuan. Visual locating of mobile robot based on adaptive down sampling[J]. Journal of Applied Optics, 2017, 38(3): 429-433. http://www.cnki.com.cn/Article/CJFDTOTAL-YYGX201703014.htm
[7]	KRUPPA E. Zur ermittlung eines objektes aus zwei perspektiven mit innerer orientierung[J]. Sitzungsberichte der Mathematisch Naturwissenschaftlichen Kaiserlichen Akademie der Wissenschaften, 1913, 122: 1939-1948.
[8]	张振杰, 郝向阳, 孙国鹏, 等.本质矩阵优化分解的相对位姿估计[J].测绘科学技术学报, 2017, 34(4): 353-357. http://d.old.wanfangdata.com.cn/Periodical/chxyxb201704005 ZHANG Zhenjie, HAO Xiangyang, SUN Guopeng, et al. Relative pose estimation based on improved essential matrix decomposition[J]. Journal of Geomatics Science and Technology, 2017, 34(4): 353-357. http://d.old.wanfangdata.com.cn/Periodical/chxyxb201704005
[9]	王君, 董明利, 李巍, 等.大视场摄影测量相机的相对定向[J].光学技术, 2018, 44(5): 549-554. http://d.old.wanfangdata.com.cn/Periodical/gxjs201805007 WANG Jun, DONG Mingli, LI Wei, et al. Camera relative orientation in large-scale photogrammetry[J]. Optical Technique, 2018, 44(5): 549-554. http://d.old.wanfangdata.com.cn/Periodical/gxjs201805007
[10]	张剑清, 潘励, 王树根.摄影测量学[M].武汉:武汉大学出版社, 2009. ZHANG Jianqing, PAN li, WANG Shugen. Photogrammetry[M]. Wuhan: Wuhan University Press, 2009.
[11]	冯文灏.近景摄影测量[M].武汉:武汉大学出版社, 2002. FENG Wenhao. Close-range Photogrammetry[M]. Wuhan: Wuhan University Press, 2002.
[12]	BAY H, ESS A, TUYTELAARS T, et al. Speeded-up robust features (SURF)[J]. Computer Vision and Image Understanding, 2008, 110(3): 346-359. doi: 10.1016/j.cviu.2007.09.014
[13]	RAGURAM R, CHUM O, POLLEFEYS M, et al. USAC: A universal framework for random sample consensus[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2013, 35(8): 2022-2038. doi: 10.1109/TPAMI.2012.257
[14]	吕立, 姚拓中, 宋加涛, 等.基于单目视觉三维重建系统的设计与实现[J].计算机工程, 2018, 44(12): 233-239. http://d.old.wanfangdata.com.cn/Periodical/jsjgc201812039 LYU Li, YAO Tuozhong, SONG Jiatao, et al. Design and implementation of 3D reconstruction system based on monocular vision[J]. Computer Engineering, 2018, 44(12): 233-239. http://d.old.wanfangdata.com.cn/Periodical/jsjgc201812039
[15]	王俊威, 西勤, 冯其强, 等.基于IGG3的数字工业摄影测量抗差光束法平差[J].测绘科学技术学报, 2017, 34(4): 411-415. http://d.old.wanfangdata.com.cn/Periodical/chxyxb201704015 WANG Junwei, XI Qin, FENG Qiqiang, et al. Robust bundle adjustment of digital industrial photogrammetry based on IGG3[J]. Journal of Zhengzhou Institute of Surveying and Mapping, 2017, 34(4): 411-415. http://d.old.wanfangdata.com.cn/Periodical/chxyxb201704015

Cited By

Cited by

Periodical cited type(2)

1.	李茂，赵明韬，沙世超，李霄，华卫红. 无人机激光中继重定向能量传输装置的聚焦策略及效果分析. 兵工学报. 2024(S1): 316-321 .
2.	张雅琼，徐阳，周伟，郭建都，刘义，田继文. 基于分数阶PID的连续变焦控制系统设计与实现. 应用光学. 2023(06): 1306-1316 . 本站查看

Other cited types(1)

Get Citation

PDF

XML

Article views (1032) PDF downloads (69) Cited by(3)

Turn off MathJax

Article Contents

Abstract

References

Relative pose estimation method of monocular mobile robot