Comparative analysis of feature-based methods and direct methods for unmanned system’s vision navigation

Chuanqi Cheng, Haiyan Wang, Jie Huang, Jiaxin Lu, Rui Si
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Abstract

Vision navigation is an alternative to Global Position System (GPS) in environments where access to GPS is denied, and cameras’ pose estimation is the key technology. At present, the pose estimation methods can be divided into two main techniques: feature-based methods and direct methods. In this paper, we theoretically analyzed the basic principles of feature-based methods and direct methods. The Jacobian matrix of cost function with respect to the pose represented by Lie algebra is derived in detail. Then the nonlinear optimization method is utilized to obtain the optimal camera pose. Finally, the accuracy, real-time and robustness of the two methods are compared and analyzed through systematic and comprehensive experiments.
基于特征的无人系统视觉导航方法与直接导航方法的比较分析
视觉导航是全球定位系统(GPS)的一种替代方案,在无法使用GPS的环境中,相机姿态估计是关键技术。目前,姿态估计方法主要分为两种技术:基于特征的方法和直接方法。本文从理论上分析了基于特征的方法和直接方法的基本原理。详细推导了用李代数表示姿态的代价函数的雅可比矩阵。然后利用非线性优化方法得到最优相机位姿。最后,通过系统全面的实验,对两种方法的精度、实时性和鲁棒性进行了比较分析。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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