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
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[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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