基于梯度信息控制曝光的视觉惯性里程计

doi:10.12305/j.issn.1001-506X.2023.05.26

系统工程与电子技术 ›› 2023, Vol. 45 ›› Issue (5): 1496-1502.doi: 10.12305/j.issn.1001-506X.2023.05.26

• 制导、导航与控制 • 上一篇

基于梯度信息控制曝光的视觉惯性里程计

鹿珂珂, 王超, 吴俊峰, 钱峰

海军航空大学航空作战勤务学院, 山东烟台 264001

收稿日期:2022-01-24 出版日期:2023-04-21 发布日期:2023-04-28
通讯作者: 吴俊峰
作者简介:鹿珂珂(1987—), 男, 讲师, 博士研究生, 主要研究方向为无人机导航与控制
王超(1988—), 男, 讲师, 硕士, 主要研究方向为无人机导航与控制
吴俊峰(1986—), 男, 讲师, 博士, 主要研究方向为图像处理、目标识别
钱峰(1983—), 男, 讲师, 硕士, 主要研究方向为无人机指挥控制系统及运用

Visual-inertial odometry based on exposure controlled by gradient information

Keke LU, Chao WANG, Junfeng WU, Feng QIAN

Aviation Operations and Service Institute, Naval Aviation University, Yantai 264001, China

Received:2022-01-24 Online:2023-04-21 Published:2023-04-28
Contact: Junfeng WU

摘要/Abstract

摘要：

视觉惯性里程计中, 直接法以亮度不变假设为基础, 这限制了在快速亮度变化场景下的性能, 而曝光时间不一样, 会导致同一物体的亮度值产生差异。针对该问题, 提出了一种用于视觉惯性里程计的主动曝光控制算法, 该算法根据图像梯度信息动态调整相机的曝光时间来最大化可用信息, 提高视觉特征提取和跟踪稳定性。将该算法应用于视觉惯性里程计进行实验验证, 结果表明, 改进后的视觉惯性里程计定位性能得到提高。

关键词: 曝光时间, 惯性测量单元, 里程计, 直接法

Abstract:

In visual-inertial odometry (VIO), the direct method is based on the assumption of invariance of brightness, which limits the performance in scenes with rapid brightness changes, and different exposure time will lead to difference in the brightness values of the same object. To solve this problem, an active exposure control algorithm for VIO is proposed, which dynamically adjusts the exposure time of the camera according to the image gradient information to maximize the available information and improve the visual feature extraction and tracking stability. The algorithm is applied to VIO for experimental verification, and the results show that the improved VIO has improved localization performance.

Key words: exposure time, inertial measurement unit (IMU), odometry, direct method

中图分类号:

TP242.6

鹿珂珂, 王超, 吴俊峰, 钱峰. 基于梯度信息控制曝光的视觉惯性里程计[J]. 系统工程与电子技术, 2023, 45(5): 1496-1502.

Keke LU, Chao WANG, Junfeng WU, Feng QIAN. Visual-inertial odometry based on exposure controlled by gradient information[J]. Systems Engineering and Electronics, 2023, 45(5): 1496-1502.

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序号	曝光时间/μs	M_perc	M_softperc	FAST特征数
1	5 000	3	8	35
2	1 0000	4	15	127
3	15 000	5	20	238
4	20 000	5	24	337
5	25 000	5	24	359
6	30 000	4	23	328
7	35 000	5	22	282
8	40 000	5	21	258
9	45 000	5	20	227
10	50 000	4	19	224
11	55 000	4	18	194
12	60 000	4	17	188
13	65 000	4	15	149
14	70 000	4	15	152
15	75 000	4	14	131

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基于梯度信息控制曝光的视觉惯性里程计

Visual-inertial odometry based on exposure controlled by gradient information

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