Stable motion tracking method and stable motion tracking device based on integration of simple camera and IMU (inertial measurement unit) of smart cellphone

A technology for motion tracking and smartphones, applied in measuring devices, image data processing, instruments, etc., can solve problems such as inability to achieve motion tracking, and achieve fast and stable motion tracking methods, stable motion tracking methods, accurate poses and absolute scale effect

Inactive Publication Date: 2016-09-21
北京暴风魔镜科技有限公司
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Problems solved by technology

However, the built-in low-cost inertial sensor is prone to larger drift than camera-based position estimation, and cannot achieve stable motion tracking

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  • Stable motion tracking method and stable motion tracking device based on integration of simple camera and IMU (inertial measurement unit) of smart cellphone
  • Stable motion tracking method and stable motion tracking device based on integration of simple camera and IMU (inertial measurement unit) of smart cellphone
  • Stable motion tracking method and stable motion tracking device based on integration of simple camera and IMU (inertial measurement unit) of smart cellphone

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Embodiment Construction

[0059] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0060] On the one hand, the present invention provides a stable motion tracking method for smartphone monocular and IMU fusion, such as figure 1 shown, including:

[0061] Step S101: use the ORB algorithm to process the acquired image, and then perform 3D reconstruction to obtain initial map points and complete map initialization;

[0062] In this step, the purpose of map initialization is to construct an initial 3D point cloud. Since the depth information cannot be obtained from only a single frame, it is necessary to select two or more images from the image sequence, estimate the camera pose and reconstruct the initial 3D point cloud. In this step, two key frames are adopted, one is an initial key frame (initial frame), and the other is a key frame (...

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Abstract

The invention discloses a stable motion tracking method and a stable motion tracking device based on integration of a simple camera and an IMU (inertial measurement unit) of a smart cellphone, and belongs to the technical field of AR (augmented reality) / VR (virtual reality) motion tracking. The method includes processing an acquired image according to an ORB (object request broker) algorithm, performing 3D (three-dimensional) reconstruction to obtain initial map points, and completing map initialization; performing visual tracking through ORB algorithm real-time matching and parallel partial keyframe mapping to obtain a visual pose; acquiring accelerated velocity and angular velocity, both generated in a three-dimensional space, of the IMU, and performing integral operation on the accelerated velocity and the angular velocity to obtain an IMU pose prediction result; performing Kalman fusion on the visual pose and the IMU pose prediction result, and performing motion tracking according to pose information acquired after fusion. Compared with the prior art, the stable motion tracking method and the stable motion tracking device have the advantages that a stable motion tracking mode can be acquired and real-time online dimension estimation can be achieved.

Description

technical field [0001] The present invention relates to the field of mobile communication, in particular to a method and device for stable motion tracking of smartphone monocular and IMU integration. Background technique [0002] With the development of VR technology, the use of advanced motion tracking technology is one of the prerequisites for its application. Based on this technology, better interaction and better immersion can be achieved. Currently, mobile VR mainly uses handles for interaction. During the interaction process, only the gyroscope of the mobile phone is used for rotation tracking. Due to the deviation and noise of the mobile phone gyroscope itself, the rotation estimation is inaccurate and the repeatability is poor. When the user sits, stands up and moves forward, if the user does not use the handle to interact, the virtual scene remains fixed, as if nothing happened, and the interaction experience is not good; when the user is sitting and immersed in the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G06T7/20
CPCG01C21/16G01C21/165
Inventor 邓欢军方维李根乔羽古鉴
Owner 北京暴风魔镜科技有限公司
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