Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Monocular visual positioning IMU (Inertia Measurement Unit) aided tracking method and device

A technology of visual positioning and monocular vision, applied in the field of visual positioning, can solve the problem of high-precision positioning and attitude determination by vision, and achieve the effect of improving positioning accuracy

Inactive Publication Date: 2020-01-03
BEIJING HUAJIE IMI TECH CO LTD
View PDF8 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the present invention proposes an IMU-assisted tracking method for monocular vision positioning, which quickly fuses vision and IMU information, and solves the problem that vision cannot be positioned with high precision when moving fast

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Monocular visual positioning IMU (Inertia Measurement Unit) aided tracking method and device
  • Monocular visual positioning IMU (Inertia Measurement Unit) aided tracking method and device
  • Monocular visual positioning IMU (Inertia Measurement Unit) aided tracking method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0049] This embodiment discloses an IMU-assisted tracking method for monocular vision positioning, which can be applied to mobile terminals such as smart phones, tablet computers, etc., please refer to figure 1 , the method includes the following steps:

[0050] S101: After the initialization of the vision system is completed and the initialization of the IMU is completed when the data is stable, obtain a vision positioning result and an IMU positioning result...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a monocular visual positioning IMU (Inertia Measurement Unit) aided tracking method and device. After visual system initialization is completed, and after the IMU initializationis completed when data is stable, a visual positioning result and an IMU positioning result are obtained; under the conditions that the visual tracking is normal, and the visual positioning time andthe IMU positioning time are consistent, the IMU positioning result is corrected according to the visual positioning result; and under the condition of visual tracking failure, the IMU positioning result is used for assisting the visual positioning. When the visual tracking is normal, the IMU positioning result is corrected through the visual positioning result. The IMU positioning and attitude determination precision is improved. When the visual tracking fails, the IMU positioning result is used for assisting the visual positioning, and the dynamic tracking positioning precision is improved.

Description

technical field [0001] The present invention relates to the technical field of visual positioning, and more specifically, to an IMU-assisted tracking method and device for monocular visual positioning. Background technique [0002] Traditional monocular visual navigation is based on frame-by-frame images for positioning and tracking. Due to the limitation of image update frequency, frame loss and tracking failures are prone to occur during fast movement, making it impossible to quickly and accurately locate and determine the posture. IMU (Inertia Measurement Unit, Inertial Measurement Unit) can sensitively measure the angular velocity and acceleration of the carrier in the inertial space, and perform positioning and attitude determination through integration. Therefore, IMU can be used for position tracking in the case of fast-moving visual loss. [0003] How to use IMU-assisted tracking to obtain accurate positioning results has become an urgent technical problem in this fi...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/16G01C21/18G01C25/00
CPCG01C21/005G01C21/165G01C21/18G01C25/005
Inventor 白立建李骊
Owner BEIJING HUAJIE IMI TECH CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com