Indoor positioning method and device based on inertial data and visual features

Abstract

The invention discloses an indoor positioning technology based on inertial data and visual features and discloses a corresponding implementation device to implement the steps. The indoor positioning technology specifically comprises: (1) multi-sensor data processing: a camera calibration and image feature extraction method; an IMU data modeling and filtering method; (2) multi-sensor coordinate system calibration: a system modeling, relative attitude calibration and relative position and attitude joint calibration method; (3) an indoor positioning and tracking technology fusing the inertial data and the visual features. Compared with an existing traditional single camera tracking technology, the indoor positioning technology disclosed by the invention has the advantages that single camera tracking is a simple assumption based on constant-speed motion; a better prediction can be provided by using the inertial data of an IMU, so that a search area is smaller during feature matching, the matching speed is higher, the tracking results are more accurate, and the camera tracking robustness in the image degradation and un-textured areas is greatly improved.

Description

technical field [0001] The present invention relates to an indoor positioning method and device, in particular to an indoor positioning method and device based on inertial data and visual features. Background technique [0002] In the research of mobile robot-related technologies, navigation technology is its core technology, and it is also a key technology to realize intelligence and autonomous movement. Robot navigation technology based on visual sensors is currently a relatively common navigation technology at home and abroad. As application scenarios become more and more complex, navigation accuracy requirements are getting higher and higher, and it is difficult to meet the requirements of processing speed and system robustness only by relying on visual sensors: in scenes with less texture areas, high-speed motion or shaking causes image blurred scenes cannot Performs effective feature tracking while performing poorly on visual navigation. With the emergence of low-cost...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the above problems, the present invention proposes an indoor positioning method and device based on inertial data and visual features. Compared with pure visual camera tracking technology, it has higher robustness, wider application range, and smoother three-dimensional movement; system structure It is simple and greatly improves the anti-interference ability of the system with a small increase in cost. It is suitable for scenes with few texture areas, high-speed motion, jitter, etc. where pure visual tracking cannot be performed.

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