Sensor fusion using inertial and image sensors

Abstract

Systems, methods, and devices are provided for controlling a movable object using multiple sensors. In one aspect, a method for calibrating one or more extrinsic parameters of a movable object is provided. The method can comprise: receiving initial values for the one or more extrinsic parameters, wherein the one or more extrinsic parameters comprise spatial relationships between at least two imagesensors carried by the movable object; receiving inertial data from at least one inertial sensor carried by the movable object during the operation of the movable object; receiving image data from the at least two image sensors carried by the movable object during the operation of the movable object; and determining estimated values for the one or more extrinsic parameters based on the initial values, the inertial data, and the image data using an iterative optimization algorithm during the operation of the movable object.

Description

Background technique [0001] Unmanned vehicles, such as unmanned aerial vehicles (UAVs), may be used to perform surveillance, reconnaissance, and exploration missions for a variety of civil, commercial, and military applications. UAVs can be manually controlled by a remote user, or can be operated in a semi-autonomous or fully autonomous manner. Such UAVs may include sensors configured to collect data, such as status information, that may be used during UAV operation. [0002] In some cases, existing methods for data collection and processing for unmanned aerial vehicle operations may not be optimal. For example, some techniques for estimating state information for UAVs may not be accurate enough, which may be detrimental to UAV function. Contents of the invention [0003] The present disclosure provides systems, methods, and apparatus related to the control and operation of movable objects, such as unmanned aerial vehicles (UAVs). In some embodiments, the systems, methods...

AI Technical Summary

Problems solved by technology

for example, some techniques for estimating UAV state information may not be accurate enough, which may be detrimental to UAV function

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