Open AccessA New 2-Correspondences Monocular Vision Navigation Method Under Planar Motion
Author(s) -
Yingjian Yu,
Xiangyi Sun,
Banglei Guan
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1971/1/012043
Subject(s) - computer vision , artificial intelligence , computer science , planar , monocular , monocular vision , solver , structure from motion , motion (physics) , computer graphics (images) , programming language
Vision navigation has non-contact, high-precision and low-cost characteristics compared with other navigation method. This paper proposes a vision navigation method for planar moving platform in known scene based on two 2D-3D correspondences. Taking account of the arbitrary direction of camera and the relative pose between the camera and the platform, we propose a linear solver with unique solution, whose minimal number of requirement correspondences is 2 and can cope with arbitrary number of correspondences bigger than 2 directly. Our method is evaluated on both synthetic data and real-world data. The experimental results demonstrate that our method is high-accuracy and fast for vision navigation of planar moving platform.