本文選題：雙目視覺室內(nèi)定位　切入點：標(biāo)識　出處：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：互聯(lián)網(wǎng)和可穿戴設(shè)備的飛速發(fā)展,使得位置感知逐漸成為人們必不可少的信息,定位服務(wù)正逐漸得到研究人員的廣泛關(guān)注。由于人們70%以上的時間處于室內(nèi)環(huán)境,因此室內(nèi)定位技術(shù)成為人們目前的研究熱點。隨著手機(jī)、相機(jī)等智能終端的普及,其完備的內(nèi)置傳感器設(shè)備使得基于視覺的定位系統(tǒng)正逐漸替代那些需要特殊設(shè)計的室內(nèi)定位系統(tǒng)。本文首先研究了雙目視覺定位技術(shù)的目的與意義,分析了視覺定位技術(shù)以及雙目視覺定位技術(shù)的國內(nèi)外研究現(xiàn)狀。其次,分析了雙目視覺系統(tǒng)模型和圖像局部特征等相關(guān)理論基礎(chǔ)在視覺定位系統(tǒng)的應(yīng)用。除此之外,本文針對傳統(tǒng)視覺定位系統(tǒng)在離線階段和在線階段存在的一些問題完成了如下研究:(1)針對傳統(tǒng)位置指紋離線數(shù)據(jù)庫建立過程中工作量過大的問題,提出了一種基于標(biāo)識的離線數(shù)據(jù)庫建立方法,該方法利用場景圖像中標(biāo)識區(qū)域的SURF局部特征點代替全局位置指紋信息,能夠有效地減少數(shù)據(jù)庫的存儲容量,并通過圖像間的單應(yīng)性映射減少了建立階段的復(fù)雜度,節(jié)省了時間開銷;(2)針對傳統(tǒng)基于標(biāo)識的單目視覺定位算法中定位精度低的問題,提出了一種改進(jìn)的雙目視覺定位算法,該算法有效地減少了標(biāo)識特征匹配的時間開銷,提高了定位精度,同時該算法還能夠計算出用戶轉(zhuǎn)向角,豐富了定位導(dǎo)航信息。對提出的基于標(biāo)識的離線數(shù)據(jù)庫的數(shù)據(jù)庫容量和一種改進(jìn)的雙目視覺定位算法的定位精度進(jìn)行實驗仿真。仿真結(jié)果表明本文提出的離線數(shù)據(jù)庫建立方法能夠有效地減少數(shù)據(jù)庫的存儲容量,減少了建立階段的時間復(fù)雜度,節(jié)省人力開銷;改進(jìn)的雙目視覺定位算法可以提高在線用戶的定位精度。
[Abstract]:With the rapid development of the Internet and wearable devices, location perception has gradually become an essential information for people, and location services are being paid more and more attention by researchers.Because people spend more than 70% of their time in indoor environment, indoor positioning technology has become a hot research topic.With the popularity of mobile phones, cameras and other intelligent terminals, its complete built-in sensor equipment makes the vision-based positioning system is gradually replacing those indoor positioning systems that need special design.In this paper, the purpose and significance of binocular vision positioning technology are studied, and the present situation of vision location technology and binocular vision positioning technology at home and abroad is analyzed.Secondly, the application of binocular vision system model and image local feature in vision positioning system is analyzed.In addition, aiming at some problems existing in the off-line and on-line phase of traditional visual positioning system, this paper has completed the following research: (1) aiming at the problem of too much work in the process of setting up the traditional location fingerprint off-line database,In this paper, an off-line database building method based on identification is proposed. This method can effectively reduce the storage capacity of the database by replacing the global location fingerprint information with the SURF local feature points of the identification region in the scene image.Through the monogram mapping between images, the complexity of the establishment stage is reduced, and the time cost is saved. Aiming at the problem of low localization accuracy in the traditional monocular vision localization algorithm based on identification, an improved binocular vision location algorithm is proposed.The algorithm can effectively reduce the time cost of identification feature matching and improve the positioning accuracy. At the same time, the algorithm can calculate the user steering angle and enrich the location and navigation information.The database capacity of the proposed off-line database based on identification and the localization accuracy of an improved binocular vision location algorithm are simulated experimentally.The simulation results show that the off-line database establishment method proposed in this paper can effectively reduce the storage capacity of the database, reduce the time complexity of the establishment phase, and save the cost of manpower.The improved binocular vision location algorithm can improve the location accuracy of online users.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP391.41

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本文編號：1723051