Visual-inertial localization method in low-light scene based on improved image enhancement

被引：0
|
作者：
Li L. [1 ]
Zhong A. [1 ]
Liang L. [1 ]
Lyu C. [1 ]
Zuo T. [1 ]
Tian X. [2 ]
机构：
[1] School of Automation, Beijing Institute of Technology, Beijing
[2] Beijing Institute of Automatic Control Equipment, Beijing
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2023年 / 31卷 / 08期
关键词：
image enhancement; localization; low-light scene; visual-inertial odometry;
D O I：
10.13695/j.cnki.12-1222/o3.2023.08.006
中图分类号：
学科分类号：
摘要：
In order to improve the localization accuracy of the visual-inertial navigation system in the low -light scene, a visual-inertial localization algorithm combined with image enhancement technology is proposed. The camera response model is determined according to the histograms of different exposure images, and the model parameters are determined by curve fitting. The illumination map and exposure matrix of low-light images are determined by nonlinear optimization, and the low-light images are preprocessed according to the camera response model. The optical flow method is used for feature tracking, and the visual error, inertial measurement unit (IMU) error and prior error are used as constraints to construct a tightly-coupled optimization model, so as to achieve more accurate pose estimation. Finally, the method is evaluated using real data collected by on-board equipment. The experimental results show that the proposed method can effectively improve the localization accuracy of the visual-inertial navigation system in the low-light scene. Compared with the method without image enhancement, the localization accuracy increased by 25.59%. Compared with the method before improvement, the localization accuracy increased by 6.38%. © 2023 Editorial Department of Journal of Chinese Inertial Technology. All rights reserved.
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页码：783 / 789
页数：6
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