A Data Fusion Algorithm for Inertial Sensor and Visual Sensor

Abstract

The embodiment of the present application provides an inertial sensor and visual sensor data fusion algorithm. Using the inertial sensor and visual sensor data fusion positioning method provided by the embodiment of the present invention, according to the first positioning data of the positioning point collected by the inertial sensor and the visual The second positioning data of the positioning point collected by the sensor determines the positioning information, or determines the positioning information according to the first positioning data when the second positioning data collected by the visual sensor is not collected, so as to determine the two-dimensional spatial coordinates and / or three-dimensional In spatial coordinates, it is no longer necessary to always determine the positioning information based on the second positioning data collected by the visual sensor. When the frequency of the visual sensor is low or the accurate positioning data cannot be determined from the collected images, the positioning information can still be output, thereby increasing the output frequency of positioning information. Reduce positioning delay.

Description

technical field [0001] The invention relates to the field of positioning technology, in particular to an inertial sensor and visual sensor data fusion algorithm. Background technique [0002] With the rapid development of science and technology, the demand for the dimension of interaction between human beings and computer equipment continues to increase. For a long time, the interaction between humans and computers was mainly in two-dimensional space, such as flat-panel monitors and mice and touchpads. Using two-dimensional space to describe three-dimensional objects will cause inconvenience and certain limitations, especially in today's development of three-dimensional design and three-dimensional entertainment, users cannot see the three-dimensional space in the design through natural action interaction. [0003] The emergence of virtual reality (VR) has elevated the interaction between humans and computers to three dimensions. People can use their own body movements, bo...

AI Technical Summary

Problems solved by technology

[0007] The present invention provides an inertial sensor and visual sensor data fusion algorithm to solve the problem that the frequency of outputting three-dimensional space coordinates in the existing three-dimensional space coordinate positioning scheme is not high and the delay is too high, which cannot meet the delay and frequency requirements of VR and other three-dimensional space positioning. Problems with higher application scenarios

Images