A method for calibrating the relative installation angle of a monocular camera and an inertial measurement unit
A technology of inertial measurement unit and calibration method, which is applied in the field of sensor calibration, can solve problems such as unsupported calibration, and achieve the effects of avoiding calibration errors, saving pre-preparation time, and being easy to linearize
Active Publication Date: 2021-11-26
BEIHANG UNIV
View PDF5 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
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
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0020] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0021] In the existing monocular camera and IMU measurement components, the relative installation angle calibration method of the two needs to measure absolute reference information, and these absolute reference information either need to be arranged in advance, or need to be measured with higher precision, which leads to the preparation The time is long, the cost is high, and the calibration result is easily affected by the measurement error of the absolute reference information. In order to solve the above technical problems, the present invention proposes a relative installation angle nonlinear optimization calibration method that only relies on relative attitude measurement, provides several rotation modes that should be adopted in the calibration process, and proposes that the nonlinear least squares method requires the minimum S...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a method for calibrating the relative installation angle of a monocular camera and an inertial measurement unit, belonging to the field of sensor calibration. Inertial measurement unit; step 2: extracting relative attitude information from the image collected by the monocular camera; step 3: solving the installation matrix by using the nonlinear least squares method. The method provided by the present invention can not rely on the measurement of absolute reference information, and avoid the calibration error caused by the measurement error of absolute reference information; in addition, the data acquisition time in the calibration process is short, and the calibration result has high precision, which can meet the requirements of single The spatial alignment requirements of the combined configuration of the camera and the inertial measurement unit in practical applications.
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...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/00G01C25/005
Inventor 张海邱笑晨
Owner BEIHANG UNIV