Tight coupling initialization method for underwater vision inertial navigation pressure positioning
An initialization method and tightly coupled technology, applied in navigation, mapping and navigation, navigation calculation tools, etc., can solve the problems of initialization parameter error, initialization parameter affecting robot positioning accuracy, etc.
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[0029] In order to make the object, technical solution and technical effect of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0030] Such as figure 1 As shown, a tightly coupled initialization method of underwater visual inertial navigation pressure positioning of the present invention comprises the following steps:
[0031] Step (1) Use the slam method based on the direct method or the feature point method to solve the monocular trajectory under the sub-scale, select the key frame within a few seconds to solve, save the pose of the key frame and related map point information, and judge the current map. The number of key frames, specifically includes the following steps:
[0032] (1.1) Perform feature matching between the incoming image of each frame and the previous image, solve the current frame image pose, and triangulate the matched feature points, and save the...
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