一种动态窗口调整IAE滤波器的立体视觉测量滤波
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摘要
针对运动物体的立体视觉测量滤波问题进行研究,引入IAE(innovation-based adaptive estimation)滤波器,并提出了一种IAE窗口动态调整的方法.先通过IAE对噪声方差估计的误差与窗口宽度的关系,限定了宽度的取值范围,再依据物体运动的深度变化率计算噪声标准差的变化率,以此动态调整滤波器窗口的宽度,从而提高IAE对噪声统计特性的估计精度.实验结果表明,所提出算法具有良好的滤波效果.
For measurement of moving objects in stereo vision, IAE filter was introduced and a method of the IAE filter window dynamic resizing(IAE-DW) was proposed. Firstly, the range of window size was constrained according to the relation between the window size and standard deviation estimation error of the IAE. Then the window size was adjusted dynamically based on the variance ratio of standard deviation calculated with the change rate of motion depth. Thus, the estimation accuracy of IAE to noise statistics can be improved. The experimental results demonstrate that the proposed algorithm can provide better filtering ability.
For measurement of moving objects in stereo vision, IAE filter was introduced and a method of the IAE filter window dynamic resizing(IAE-DW) was proposed. Firstly, the range of window size was constrained according to the relation between the window size and standard deviation estimation error of the IAE. Then the window size was adjusted dynamically based on the variance ratio of standard deviation calculated with the change rate of motion depth. Thus, the estimation accuracy of IAE to noise statistics can be improved. The experimental results demonstrate that the proposed algorithm can provide better filtering ability.
引文
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[3]王帅,韩峻峰.基于立体视觉技术的实时测距系统研究[J].电子科技, 2015,28(10):78-82. Wang Shuai,Han Junfeng.Real-time ranging system based on stereo vision technology[J].Electronic Sci & Tech, 2015,28(10):78-82.(in Chinese)
[4]Mohamed A H,Schwarz K P.Adaptive Kalman filtering for INS/GPS[J].Journal of Geodesy,1999,73(4):193-203.
[5]Lu C,Tan Y,Zhu B,et al.Improved innovation-based adaptive Kalman filter for dual-frequency navigation using carrier phase[J]. Science in China Series F:Information Sciences,2010,53(12):2653-2663.
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[7]Xu Y,Zhao Y,Wu F,et al.Error analysis of calibration parameters estimation for binocular stereo vision system[C]//Proceedings of International Conference on Imaging Systems and Techniques.[S.l.]:IEEE,2013:317-320.
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