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Visual inertial odometer method and system for calibrating equipment parameters on line

A technology of equipment parameters and odometer, which is applied in the field of computer vision, can solve problems such as application limitations, and achieve the effects of universal process, easy to use online operation process, and improved performance

Pending Publication Date: 2021-07-02
SHICHEN INFORMATION TECH SHANGHAI CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Chinese patent document CN201810150612.7 discloses a method and system for implementing a visual-inertial odometer. This patent aims to describe a method for implementing a visual-inertial odometer, and does not involve online calibration and sliding window processes
[0007] Chinese patent CN201610012754.8 discloses a method for calibrating the relative attitude of a binocular stereo camera and an inertial measurement unit. This patent is only aimed at the calibration process of a binocular stereo camera, and its application is relatively limited.
At the same time, the method has only one calibration process

Method used

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  • Visual inertial odometer method and system for calibrating equipment parameters on line
  • Visual inertial odometer method and system for calibrating equipment parameters on line
  • Visual inertial odometer method and system for calibrating equipment parameters on line

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Embodiment 1

[0072] This embodiment provides a visual-inertial odometry method for online calibration of device parameters. The device parameters include camera external parameters, IMU bias and camera internal parameters. Please refer to figure 1 , the method includes:

[0073] S1: collect image data and IMU data through the device; specifically, the device collects image data in real time through an equipped camera, and collects IMU data in real time through an equipped IMU, and the IMU data includes gyroscope data and acceleration data;

[0074] S2: Using a Kalman filter to calibrate the camera extrinsics and the bias of the IMU online according to the image data and IMU data and calculate the pose of the image frame in the image data; specifically, the camera extrinsics include the IMU to The translation and rotation of the camera, the bias of the IMU includes the bias of the accelerometer and the bias of the gyroscope. Since the conversion relationship between the IMU and the camera i...

Embodiment 2

[0130] This embodiment provides a visual-inertial odometer system for online calibration of equipment parameters, please refer to figure 2 , the visual-inertial odometry system includes a memory 11 and a processor 12, wherein:

[0131] The memory 11 is used to store codes and related data;

[0132] The processor 12 is used to call the data in the memory 11 and execute the code in the memory 11; executing the code in the memory 11 can implement the method and steps of the aforementioned visual-inertial odometer for online calibration of equipment parameters For specific methods and steps, refer to the descriptions of the foregoing embodiments, and details are not repeated here.

[0133] In this embodiment, the memory 11 may include a volatile memory, for example, a random access memory (random access memory, RAM), and the RAM may include a static RAM or a dynamic RAM. The memory 11 may also include a non-volatile memory (non-volatile memory), such as a read-only memory (read...

Embodiment 3

[0136] This embodiment provides another visual-inertial odometry system for online calibration of device parameters. The device parameters include camera external parameters, IMU bias and camera internal parameters. Please refer to image 3 , the visual-inertial odometer system includes a data acquisition module 21, a bias calibration module 22 of the camera external reference and the IMU and a camera internal reference calibration module 23, wherein:

[0137] The data collection module 21 is used to collect image data and IMU data; specifically, the device collects image data in real time through an equipped camera, and collects IMU data in real time through an equipped IMU;

[0138]The bias calibration module 22 of the external parameters of the camera and the IMU is used to use a Kalman filter to calibrate the external parameters of the camera and the bias of the IMU online according to the image data and the IMU data and calculate the position of the image frame in the imag...

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Abstract

The invention relates to a visual inertial odometer method and system for online calibration of equipment parameters, which adopts a Kalman filter to online calibrate external parameters of a camera and bias of an IMU (Inertial Measurement Unit), and adopts nonlinear optimization and a sliding window to online calibrate internal parameters of the camera. Image data and IMU data are acquired by using the camera and the inertial measurement unit carried by the equipment, parameters are calibrated without depending on the equipment and a calibration plate, the calculation speed is ensured by using a Kalman filter to calibrate external parameters of the camera and bias of the IMU, and the precision requirement is met by using nonlinear optimization and a sliding window to calibrate internal parameters of the camera. And the Kalman filter and the nonlinear optimization sliding window are in a tight coupling relationship, so that the method is more robust. The invention provides a set of perfect algorithm process and system of the real-time Kalman filter and the nonlinear optimization sliding window visual inertial odometer, the performance of the visual inertial odometer in different environments and different devices is remarkably improved, and the algorithm has the advantages of universal process, strong pertinence, simple and easy online operation process and the like.

Description

technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a visual inertial odometer method and system for online calibration of equipment parameters. Background technique [0002] At present, most mobile devices are equipped with cameras and inertial measurement units (IMUs), and the odometry positioning algorithm using visual and inertial fusion has received more and more attention. The method of real-time pose tracking using data from the device's own camera and inertial measurement unit is called the visual-inertial odometry (VIO) algorithm. [0003] Visual-inertial odometry is widely used in fields such as augmented reality, virtual reality, navigation, mobile robots, drones, and unmanned driving. The visual-inertial mileage calculation method generally adopts one of nonlinear optimization or Kalman filtering. Non-linear optimization is accurate but takes up more computing resources, and Kalman filtering takes up less co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/80G01C22/00
CPCG06T7/73G06T7/80G01C22/00
Inventor 顾升宇王强张小军
Owner SHICHEN INFORMATION TECH SHANGHAI CO LTD
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