Research On Indoor High-precision Positioning System Based On Strero Vision

In today's society,from production to life,mobile robots are more and more widely used.The real-time positioning accuracy is the key factor affecting the efficiency of the whole system.Nowadays,with the rapid development of visual positioning system,the accuracy and efficiency of indoor visual positioning system are constantly improving.Vision usually integrates other sensors to achieve positioning in complex scenes.Among them,binocular vision system has a simple structure,strong adaptability and good expansibility,which is widely used in industry and commerce.At the same time,the existing vision system still has the shortcomings of high precision and efficiency,so the indoor positioning system based on binocular vision has high research value and significance.In this paper,a mobile robot indoor high-precision vision positioning system is built based on binocular high-definition camera,and its error is modeled and simulated.The system uses loop detection to effectively eliminate the accumulated error in the operation of the visual odometer.A set of real-time localization and mapping(SLAM)system based on binocular vision is built.Firstly,this paper explains the principle of camera imaging,calibrates the internal parameters and structural parameters of binocular camera based on Zhang Zhengyou calibration method,analyzes the error of 3D vision positioning system according to binocular imaging principle,and obtains the positioning error curve of binocular 3D vision system through modeling and simulation.Secondly,in the system building part,after image processing with multi-layer Gaussian pyramid,orb(oriented fast and rotated brief)is used for feature extraction and matching,and the depth information of the feature points is calculated to get the relative pose of the camera,which realizes the visual odometer link.Combined with bag of words model and graph optimization theory,map building and loop detection are realized.Finally,the actual positioning error of the system is measured by high-precision grating ruler,the simulation results are verified,and the high-precision visual positioning system is realized.