摘要
充电桩是无人车的基础供电设施,准确识别其位置并进行充电是保证无人车作业的前提。目前,充电桩定位算法多以模板匹配和深度学习为主。然而,模板匹配在视角变化时识别效果欠佳,深度学习由于实时性不能满足要求而无法广泛应用。针对上述问题,提出一种融合去模糊与图像彩色信息且具有尺度不变性的ORB特征匹配算法用于充电桩定位。在预处理阶段,基于多尺度金字塔与模糊层分割对图像进行去模糊处理;其次使用颜色不变量模型对模板图像及待检测图像进行进一步预处理,求出颜色不变量;随后对颜色不变量建立尺度空间,利用Fast-Hession矩阵检测极值点,提取尺度不变特征点,然后通过rBRIEF算法计算特征描述符,并结合汉明距离和筛选内点以加速的RANSAC算法去除误匹配点,计算两幅图像间的映射矩阵。在此基础上,通过合作目标的尺寸信息以及PnP算法求解出充电桩的位姿信息,实现对充电桩的定位。实验结果表明,多尺度金字塔融合模糊分割的非盲去模糊效果较传统算法有明显提升,且相较传统的ORB算法,提出的ORB算法改善了在颜色不同而对应灰度值相同区域无法提取到特征点且正确匹配率低的问题,并且使算法具备尺度不变性,解决了特征点分布不均匀的情况,有效地提高了充电桩定位的精准性。
Charging stations serve as essential power infrastructure for unmanned vehicles,where precise localization enables reliable operation.Current positioning algorithms predominantly use template matching and deep learning,yet both face limitations.Template matching performs poorly under perspective changes,while deep learning lacks real-time applicability.To address these issues,this article proposes an improved ORB feature matching algorithm incorporating deblurring and color-invariant processing for scale-invariant charging station localization.The method first applies a multi-scale pyramid and fuzzy layer segmentation for image deblurring.Next,a color invariant model preprocesses template and test images to extract invariant features.A scale space is then constructed for these features,with Fast-Hessian detecting extremum points to obtain scale-invariant keypoints.Feature descriptors are computed using rBRIEF,while Hamming distance and an accelerated RANSAC filter mismatches to derive the inter-image mapping matrix.The charging station′s pose is finally estimated using cooperative target dimensions and PnP.Experimental results show superior deblurring performance over traditional methods.Compared with the conventional ORB,the proposed algorithm resolves feature extraction failures in the same-gray but different-color regions,enhances matching accuracy,ensures scale invariance,and improves feature distribution uniformity,ultimately boosting positioning precision.
作者
栾添添
顾雯莉
孙明晓
李斌
刘鹏飞
Luan Tiantian;Gu Wenlli;Sun Mingxiao;Li Bin;Liu Pengfei(School of Automation,Harbin University of Science and Technology,Harbin 150080,China;Hefei HRG Tonan Intelligent Control Robot Co.,Ltd.,Hefei 230000,China)
出处
《仪器仪表学报》
北大核心
2025年第6期361-369,共9页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金青年项目(62103120)
黑龙江省博士后面上资助项目(LBH-Z22195)
黑龙江省自然科学基金资助项目(YQ2024E047)
黑龙江省优秀青年教师基础研究支持计划项目(YQJH2024067)
黑龙江省复合材料高效成型及智能装备技术创新中心开放课题面上项目(HPTIC202204)资助。
关键词
尺度不变性
去模糊
ORB算法
充电桩定位
scale invariance
deblurring
ORB algorithm
charging pile positioning
