Monocular camera and inertial measurement unit relative mounting angle calibrating method

Abstract

The invention discloses a monocular camera and inertial measurement unit relative mounting angle calibrating method and belongs to the field of sensor calibration. The method comprises the following steps of, firstly, rotating a measurement module to collect calibrating data, wherein the measurement module is composed of a monocular camera and an inertial measurement unit; secondly, extracting relative attitude information from images collected by the monocular camera; thirdly, solving a mounting matrix through a nonlinear least square method. With dependence on absolute reference information,the monocular camera and inertial measurement unit relative mounting angle calibrating method can avoid calibrating errors resulting from absolute reference information measurement errors; besides, during the calibrating process, the data collecting period is short and the calibrating precision is high, so that the monocular camera and inertial measurement unit relative mounting angle calibratingmethod can meet the requirements of combined configuration of the monocular camera and the inertia measurement unit on spatial alignment during practical application.

Description

technical field [0001] The invention belongs to the field of sensor calibration, and in particular relates to a calibration method for measuring the relative installation angle of a coordinate system space of a monocular camera and an inertial measurement unit measuring component, relates to a device rotation mode in the calibration process, and belongs to a multi-sensor external parameter calibration method. Background technique [0002] The sensor combination based on a monocular camera and an inertial measurement unit (Inertial Measurement Unit, IMU) has been widely used in navigation, three-dimensional reconstruction and other fields, and the IMU is composed of a three-axis accelerometer and a three-axis gyroscope. The IMU has a large output bandwidth, good tracking performance for high maneuvers, high short-term calculation accuracy, and can provide scale information, but the long-term calculation accumulation error is huge; the relative motion information obtained from...

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Problems solved by technology

[0006] The purpose of the present invention is to solve the problem of unsupported calibration of the relative installation angle of the coordinate system space of the IMU and the monocular camera, but it is also applicable to the situation with a target, and proposes a relative installation angle calibration based on the monocular camera and IMU method, this method has no hard requirements on the target, and can avoid the preparation of the absolute reference target in the early stage when rapid calibration is required, and at the same time avoids the calibration error caused by the inaccurate absolute reference measurement of the target or gravity vector, which is a specific application. Quick Calibration provides a solution

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