| 摘要: |
| 近20年来视觉导航技术发展迅速,在原理方法与技术实现上取得了重要突破,规模化应用已经成为可能。以视觉导航中光流、视觉里程计、视觉同步定位与地图构建等主流研究方向为对象,对其发展概况、基本原理、技术优势与难点等进行了简要介绍与分析,并从近期应用推广及长远发展角度对视觉及视觉组合导航技术进行了展望。 |
| 关键词: SFM 视觉里程计 VSLAM 光流 组合导航 |
| DOI： |
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| 基金项目: |
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| The Development of Visual Navigation |
| ZHANG Hai,WU Ke-qiang,ZHANG Xiao-ou |
| (School of Automation Science and Electrical Engineering, Beihang University;Unmanned Aerial Vehicle Research Institute, Beihang University) |
| Abstract: |
| Along with the fast development of visual navigation in the last two decades, some significant progresses have been achieved and applications in wide fields are ready to come. The developments,theories, advantages and difficulties are introduced according to the main visual navigation algorithms of optical flow, Visual Odometry and VSLAM. Finally, the future researches of coming and long term stages are analyzed in brief |
| Key words: SFM VO VSLAM Optical flow Integrated navigation |
