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Variational baseline binocular vision inertia speedometer and method thereof

A binocular vision and odometer technology, applied in the field of metrology, to achieve the effect of improving positioning accuracy and robustness

Inactive Publication Date: 2017-12-12
CHINA UNIV OF MINING & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Multi-sensor fusion has become a development trend. However, there is currently a lack of visual-inertial odometers that can effectively fuse baseline-changing binocular cameras and inertial measurement units (IMUs) in applications.

Method used

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  • Variational baseline binocular vision inertia speedometer and method thereof
  • Variational baseline binocular vision inertia speedometer and method thereof
  • Variational baseline binocular vision inertia speedometer and method thereof

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Embodiment Construction

[0035] The present invention will be further explained below in conjunction with the drawings.

[0036] Such as Figure 1-7 , A variable baseline binocular visual inertial odometer, comprising a housing 3, a support board 30, a control board 31, and a switch 36, wherein:

[0037] The housing 3 is a rectangular parallelepiped with a cavity inside, which includes a front panel 1, an upper panel 2. The front panel 1 of the housing 3 is provided with a long left window 39 and a right window 40, a left window 39 and a right window The left camera 4 and the right camera 5 are respectively placed in 40, and the left camera 4 is installed on the left base 6, the left base 6 is installed on the left rack 16, the right camera 5 is installed on the right base 7, and the right base The seat 7 is mounted on the right rack 17; the left rack 16 meshes with a fourth gear 15 and a sixth gear 19, and the right rack 17 meshes with a third gear 14 and a fifth gear 18;

[0038] The support plate 30 is ...

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Abstract

The invention discloses a variational baseline binocular vision inertia speedometer and a method thereof. The speedometer comprises a shell, a supporting plate, a control plate and a switch, wherein a left window and a right window are formed in a front plate of the shell; a left camera and a right camera are respectively placed in the left window and the right window; the left camera is mounted on a left base; the left base is mounted on a left rack; the right camera is mounted on a right base; the right base is mounted on the right rack; the supporting plate is mounted in the shell; a driving motor and a balancing weight are mounted on the supporting plate; a first gear is mounted on the driving motor; a second gear is mounted on the balancing weight; the first gear is meshed with the second gear; the first gear is meshed with a third gear; the second gear is meshed with a fourth gear; the control plate is mounted in the shell; an IMU (inertia measurement unit) and an STM32 processor are mounted on the control plate; the switch is mounted on the shell and is connected with the control plate by a circuit. In the speedometer, a variational baseline binocular camera can be effectively combined with the IMU.

Description

Technical field [0001] The invention relates to the field of measurement, in particular to a variable baseline binocular visual inertial odometer and a method thereof. Background technique [0002] Simultaneous localization and mapping (SLAM) based on vision is gradually being applied to robotic fields such as unmanned vehicles, unmanned aerial vehicles, and sweeping robots, as well as in augmented reality and virtual reality. It can locate objects and construct three-dimensional environment maps in unknown environments. [0003] However, in the field of computer vision, simply using the camera for initialization has scale problems, and problems such as scale drift and low positioning accuracy are prone to occur during operation. Nowadays, the baseline between the two cameras of the binocular camera is fixed. The camera uses the triangulation method to calculate the position of the object in the environment based on the image information of the two cameras. However, the binocular...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C22/00
CPCG01C22/00
Inventor 陈常李振亚李鹏赵勇由韶泽李晨
Owner CHINA UNIV OF MINING & TECH
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