Inertial sensor and visual sensor data fusion algorithm

Abstract

An embodiment of the invention provides an inertial sensor and visual sensor data fusion algorithm. With the adoption of the provided inertial sensor and visual sensor data fusion positioning method,positioning information is determined according to first positioning data, acquired by an inertial sensor, of a positioning point and second positioning data, acquired by a visual sensor, of the positioning point, or the positioning information is determined according to the first positioning data when the second positioning data acquired by the visual sensor are not acquired, so that the positioning information is not required to be always determined according to the second positioning data acquired by the visual sensor when two-dimensional space coordinates and / or three-dimensional space coordinates are determined, the positioning information can be still output when the frequency of the visual sensor is lower or the accurate positioning data cannot be determined according to acquired images, the output frequency of the positioning information is improved and positioning delay is reduced.

Description

technical field [0001] The invention relates to the field of positioning technology, in particular to an inertial sensor and visual sensor data fusion algorithm. Background technique [0002] With the rapid development of science and technology, the demand for the dimension of interaction between human beings and computer equipment continues to increase. For a long time, the interaction between humans and computers was mainly in two-dimensional space, such as flat-panel monitors and mice and touchpads. Using two-dimensional space to describe three-dimensional objects will cause inconvenience and certain limitations, especially in today's development of three-dimensional design and three-dimensional entertainment, users cannot see the three-dimensional space in the design through natural action interaction. [0003] The emergence of virtual reality (VR) has elevated the interaction between humans and computers to three dimensions. People can use their own body movements, bo...

AI Technical Summary

Problems solved by technology

[0007] The present invention provides an inertial sensor and visual sensor data fusion algorithm to solve the problem that the frequency of outputting three-dimensional space coordinates in the existing three-dimensional space coordinate positioning scheme is not high and the delay is too high, which cannot meet the delay and frequency requirements of VR and other three-dimensional space positioning. Problems with higher application scenarios

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