The uncertainty research of visual positioning in different mediums

4th International Conference on Advanced Composite Materials and Manufacturing Engineering 2017

材料科学;化学

Hu, Yanzhu^1 ; Wang, Song^1 ; Ai, Xinbo^1 ; Meng, Zhen^1 ; Tian, Wenjia^1 ; Wang, Jiao^1 ; Hu, Yu^1

College of Automation, Beijing University of Posts and Telecommunications, Beijing

100876, China^1

关键词: Accuracy Improvement;    Binocular camera;    Engineering applications;    Positioning error;    Random fluctuation;    Real environments;    Vision positioning;    Visual positioning;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/207/1/012042/pdf
DOI  :  10.1088/1757-899X/207/1/012042

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

In engineering application, there existed deviation when light spreads in different mediums. At the same time miscellaneous medium and random fluctuation may lead to inaccuracy of visual positioning. It explored visual positioning technology in condition of different mediums for binocular camera. Firstly focused on medium material and impurity in real environment, the refractive index formula is derived through binocular visual positioning principle. Then considering deviation when light spreads in different mediums, deductive process of vision positioning is realized according to calculated refractive index. Because cloud model can better describe randomness and fuzziness. It was introduced to deal with problems of random fluctuation in different mediums. Finally simulation was designed to prove the accuracy improvement in different mediums. The result showed that accuracy error had decreased by 66.7% after considering transparent organic mediums. Compared with not knowing refractive index, positioning error had decreased by 49.7%.