Calibration method for relative attitude of binocular stereo camera and inertial measurement unit

A technology of inertial measurement unit and binocular stereo camera, which is applied in the direction of measuring devices, instruments, etc., to reduce errors and increase robustness

Inactive Publication Date: 2016-05-25
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0009] The purpose of the present invention is to solve the problems existing in the existing visual odo

Method used

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  • Calibration method for relative attitude of binocular stereo camera and inertial measurement unit
  • Calibration method for relative attitude of binocular stereo camera and inertial measurement unit
  • Calibration method for relative attitude of binocular stereo camera and inertial measurement unit

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Embodiment Construction

[0024] Below in conjunction with accompanying drawing, the method of the present invention is described in detail:

[0025] Step 1: Calibrate the binocular camera and obtain the internal and external parameters of the camera, including: focal length f, baseline length b, image center pixel position u 0 , v 0 , the correction matrix of the entire image, etc., the internal parameter matrix of the camera:

[0026]

[0027] Step 2: Turn on the binocular camera, collect left and right images continuously, and use the camera parameters obtained in step 1 to correct the image.

[0028] Step 3: Obtain the straight line equation of the thin line in the left image and the right image.

[0029] Step 3-1: You can use the Hough transform or manually select the endpoint of the thin line to obtain the equation of the line, and get the pixel coordinates of the endpoint of the thin line. Two points (u1l, v1l) and point (u2l, v2l) can be used to solve the parallax d=x l -x r Use the pri...

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Abstract

The invention discloses a simple and feasible calibration method for the relative attitude of a binocular stereo camera and an inertial measurement unit on the basis of the absolute gravity direction. The method comprises the steps that a gravity direction vector serves as a reference vector, expressions of the gravity direction vector under a camera coordinate system and under an IMU coordinate system are solved respectively to obtain the expressions of the same vector under the two different coordinate systems, and then the attitude change relationship between the two coordinate systems can be solved; finally, precision verification is performed through reprojection errors, and application of the calibration method in a visual odometer is supplied. Experiments show that the relative attitude between the camera and the IMU can be accurately solved through the method. The method can be used for assisting in vision positioning of mobile robots and spherical robots.

Description

Technical field: [0001] The invention relates to a calibration method of binocular stereo vision and relative posture of an inertial measurement unit, which can assist visual positioning and provide necessary conditions for fusion of visual sensor and IMU information. Background technique: [0002] In the fields of spherical robots, drone navigation, motion capture, and augmented reality, cameras and inertial measurement units are often bound to a moving object, and a more accurate pose is determined by fusing the information of the two. Binocular stereo vision simulates the way human eyes process scenes to locate spatial points, which can solve nonlinear errors well, and is one of the important research directions. However, relying solely on visual information to realize functions such as autonomous positioning of the robot has certain defects. For example, the traditional visual odometer uses the initial coordinate system of the camera as the positioning coordinate system....

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 叶平贾庆轩孙汉旭高树会窦仁银杨俊锋
Owner BEIJING UNIV OF POSTS & TELECOMM
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