Relative positioning technology of static target based on visual-inertial fusion

Yixiang Wang; Leilei Li; Lin Liang; Yifei Yang; Zhe Zhang

doi:10.1109/ICETCI55101.2022.9832095

Relative positioning technology of static target based on visual-inertial fusion

Yixiang Wang^*, Leilei Li, Lin Liang, Yifei Yang, Zhe Zhang

^*此作品的通讯作者

自动化学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

In this paper, the position of the target in the image is obtained by template matching, and then the feature points are tracked and extracted from the target image and the source image, and the initial value of the target depth is obtained by visual measurement. Then solve the nonlinear least squares problem based on visual constraints and inertia constraints to obtain the optimized target depth. Experiments show that the error of depth estimation is no more than 10% of the target distance.

源语言	英语
主期刊名	2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022
出版商	Institute of Electrical and Electronics Engineers Inc.
页	124-128
页数	5
ISBN（电子版）	9781728181158
DOI	https://doi.org/10.1109/ICETCI55101.2022.9832095
出版状态	已出版 - 2022
活动	2nd IEEE International Conference on Electronic Technology, Communication and Information, ICETCI 2022 - Changchun, 中国期限: 27 5月 2022 → 29 5月 2022

出版系列

姓名	2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022

会议

会议	2nd IEEE International Conference on Electronic Technology, Communication and Information, ICETCI 2022
国家/地区	中国
市	Changchun
时期	27/05/22 → 29/05/22

访问文件

10.1109/ICETCI55101.2022.9832095

其它文件与链接

链接到 Scopus 的出版物

引用此

Wang, Y., Li, L., Liang, L., Yang, Y., & Zhang, Z. (2022). Relative positioning technology of static target based on visual-inertial fusion. 在 2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022 (页码 124-128). (2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICETCI55101.2022.9832095

Wang, Yixiang ; Li, Leilei ; Liang, Lin 等. / Relative positioning technology of static target based on visual-inertial fusion. 2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022. Institute of Electrical and Electronics Engineers Inc., 2022. 页码 124-128 (2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022).

@inproceedings{912fb871cbf3494d8451211c36a52ac9,

title = "Relative positioning technology of static target based on visual-inertial fusion",

abstract = "In this paper, the position of the target in the image is obtained by template matching, and then the feature points are tracked and extracted from the target image and the source image, and the initial value of the target depth is obtained by visual measurement. Then solve the nonlinear least squares problem based on visual constraints and inertia constraints to obtain the optimized target depth. Experiments show that the error of depth estimation is no more than 10% of the target distance.",

keywords = "Multi-sensor fusion, depth estimation, nonlinear optimization, target recognition, visual-inertial fusion",

author = "Yixiang Wang and Leilei Li and Lin Liang and Yifei Yang and Zhe Zhang",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2nd IEEE International Conference on Electronic Technology, Communication and Information, ICETCI 2022 ; Conference date: 27-05-2022 Through 29-05-2022",

year = "2022",

doi = "10.1109/ICETCI55101.2022.9832095",

language = "English",

series = "2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "124--128",

booktitle = "2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022",

address = "United States",

}

Wang, Y, Li, L, Liang, L, Yang, Y & Zhang, Z 2022, Relative positioning technology of static target based on visual-inertial fusion. 在 2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022. 2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022, Institute of Electrical and Electronics Engineers Inc., 页码 124-128, 2nd IEEE International Conference on Electronic Technology, Communication and Information, ICETCI 2022, Changchun, 中国, 27/05/22. https://doi.org/10.1109/ICETCI55101.2022.9832095

Relative positioning technology of static target based on visual-inertial fusion. / Wang, Yixiang; Li, Leilei; Liang, Lin 等.
2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022. Institute of Electrical and Electronics Engineers Inc., 2022. 页码 124-128 (2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Relative positioning technology of static target based on visual-inertial fusion

AU - Wang, Yixiang

AU - Li, Leilei

AU - Liang, Lin

AU - Yang, Yifei

AU - Zhang, Zhe

PY - 2022

Y1 - 2022

N2 - In this paper, the position of the target in the image is obtained by template matching, and then the feature points are tracked and extracted from the target image and the source image, and the initial value of the target depth is obtained by visual measurement. Then solve the nonlinear least squares problem based on visual constraints and inertia constraints to obtain the optimized target depth. Experiments show that the error of depth estimation is no more than 10% of the target distance.

AB - In this paper, the position of the target in the image is obtained by template matching, and then the feature points are tracked and extracted from the target image and the source image, and the initial value of the target depth is obtained by visual measurement. Then solve the nonlinear least squares problem based on visual constraints and inertia constraints to obtain the optimized target depth. Experiments show that the error of depth estimation is no more than 10% of the target distance.

KW - Multi-sensor fusion

KW - depth estimation

KW - nonlinear optimization

KW - target recognition

KW - visual-inertial fusion

UR - http://www.scopus.com/inward/record.url?scp=85136321713&partnerID=8YFLogxK

U2 - 10.1109/ICETCI55101.2022.9832095

DO - 10.1109/ICETCI55101.2022.9832095

M3 - Conference contribution

AN - SCOPUS:85136321713

T3 - 2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022

SP - 124

EP - 128

BT - 2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd IEEE International Conference on Electronic Technology, Communication and Information, ICETCI 2022

Y2 - 27 May 2022 through 29 May 2022

ER -

Wang Y, Li L, Liang L, Yang Y, Zhang Z. Relative positioning technology of static target based on visual-inertial fusion. 在 2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022. Institute of Electrical and Electronics Engineers Inc. 2022. 页码 124-128. (2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information, ICETCI 2022). doi: 10.1109/ICETCI55101.2022.9832095

Relative positioning technology of static target based on visual-inertial fusion

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