Development of a Visual Odometry Model Based on Sensors and Video Stream Analysis

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Аннотация

The article is devoted to the development of a visual odometry model based on sensors of an inertial measuring device and the analysis of a video stream arriving in real time. Modeling is based on the analysis and evaluation of methods for measuring the correct coordinates of a moving object, systems for estimating the movement of an object in three-dimensional space, algorithms at intermediate stages of image processing, principles for selecting special points on the frame and optical flow for selected points.

Толық мәтін

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Авторлар туралы

Soelma Danilova

Financial University under the Government of the Russian Federation

Хат алмасуға жауапты Автор.
Email: sddanilova@fa.ru
ORCID iD: 0000-0003-4143-078X

Cand. Sci. (Eng.), Associate Professor, associate professor, Department of Data Analysis and Machine Learning; Faculty of Information Technology

Ресей, Moscow

Әдебиет тізімі

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Әрекет
1. JATS XML
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2. Fig. 1. An example of the encoder operation

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3. Fig. 2. The algorithm of visual odometry

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4. Fig. 3. Coordinate systems: a – global coordinate system; b – device coordinate system

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5. Fig. 4. The scheme of the Majwick filter

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6. Fig. 5. Converted camera model

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7. Fig. 6. Epipolar representation of two cameras with Y and Y′ centers

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8. Fig. 7. The relative position of the cameras with the coordinate system of the left camera

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