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Monocular vision and IMU fused adaptive indoor positioning method

A monocular vision and indoor positioning technology, which is applied in the field of computer vision technology and information fusion, can solve the problems of large amount of calculation and difficult application, and achieve the effect of ensuring accuracy and reducing the amount of calculation

Inactive Publication Date: 2018-05-29
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
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Problems solved by technology

However, the algorithm has a large amount of calculation, and it is difficult to apply it to the visual IMU platform with limited computing resources.

Method used

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  • Monocular vision and IMU fused adaptive indoor positioning method
  • Monocular vision and IMU fused adaptive indoor positioning method
  • Monocular vision and IMU fused adaptive indoor positioning method

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Embodiment Construction

[0044] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples.

[0045] The present invention utilizes the acceleration and angular velocity of the IMU to judge the operating mode of the carrier, and adopts different visual-inertial positioning strategies according to the characteristics of each mode. In addition, the method of the present invention adopts a configuration mode in which the focal length of the camera is fixed and the lens is directed downward, which can effectively alleviate the problems of low positioning accuracy caused by blurred images and insufficient matching of feature quantities. The method of the invention has high positioning accuracy and fast calculation speed, and can be widely applied to the scene of indoor positioning of pedestrians.

[0046] The camera in the present invention is arranged in front of the carrier with the lens facing down and the focal length fixed. When the carr...

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Abstract

The invention relates to the monocular vision and IMU fused adaptive indoor positioning method comprising the following steps: gathering the acceleration and angular velocity of the IMU so as to determine the motion mode of a carrier; if the carrier is in a slow motion mode, using a vision-based SIFT characteristic point coupling algorithm to obtain the offset amount of a target in two adjacent frames of images; if the carrier is in a fast motion mode, using a vision-based sparse optical flow algorithm to obtain the offset amount of the target in two adjacent frames of images; if the carrier is in a super fast motion mode, using a IMU-based expansion Kalman filtering algorithm to obtain the target position. The method can ensure the positioning precision, can greatly reduce the computational complexity, and can be widely applied to indoor positioning of pedestrians.

Description

technical field [0001] The invention relates to computer vision technology and information fusion technology, in particular to an adaptive indoor positioning method oriented to multi-motion mode monocular vision and IMU fusion. Background technique [0002] Indoor positioning methods can be used in indoor navigation for visually impaired people, shopping guidance for consumers in shopping malls, autonomous motion estimation of robots, and other fields. The existing mainstream indoor positioning methods include inertial-based positioning methods, wearable camera-based positioning methods, and Wi-Fi-based positioning methods. However, existing methods are too dependent on infrastructure to be applied to pedestrian localization in unknown environments. As the cost of MEMS (Micro-Electro-Mechanical System) sensors becomes lower and smaller, IMUs with integrated accelerometers, gyroscopes and magnetometers appear. The advantage of IMU is that it does not depend on a specific ba...

Claims

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Application Information

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IPC IPC(8): G06T7/277G06T7/246G06T7/73G06T7/13
CPCG06T2207/10016
Inventor 梁炜张吟龙郑萌谈金东于海斌彭士伟赵有健
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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