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VIO rapid united initialization method based on monocular camera

An initialization method, camera technology, applied in navigation through speed/acceleration measurement, image data processing, instruments, etc.

Active Publication Date: 2018-12-11
SOUTHEAST UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

Another initialization method introduced by VINS proposed by HKUST provides a robust initialization process capable of bootstrapping the system from an unknown initial state, but requires a lot of computing resources to calculate the gravity direction

Method used

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  • VIO rapid united initialization method based on monocular camera
  • VIO rapid united initialization method based on monocular camera
  • VIO rapid united initialization method based on monocular camera

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Experimental program
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Embodiment Construction

[0062] Such as figure 1 As shown, the VIO fast joint initialization method based on the monocular camera includes the following steps:

[0063] (1) Process a few seconds of video with ORB-SLAM to obtain the initial pose and a few keyframes;

[0064] (2) construct cost function calculation gyroscope deviation by the key frame in the step (1) and IMU pre-integration;

[0065] (3) Obtain the gravity accelerometer bias, gravity acceleration, gravity acceleration calibration and gravity accelerometer bias by solving the linear model between consecutive frames;

[0066] (4) Calculate the scale and velocity information through the gravitational acceleration calibration and parameter separation in step (3).

[0067] Step 1. Gravity accelerometer bias estimation

[0068] The motion between two consecutive keyframes can be described by the pre-integrated ΔR, Δv, Δp measured between the two frames. From the pre-integration equation:

[0069]

[0070]

[0071]

[0072] i and...

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Abstract

The invention discloses a VIO rapid united initialization method based on a monocular camera. The VIO rapid united initialization method comprises the following steps: (1) processing a few seconds ofvideo by using ORB-SLAM to obtain an initial pose and several keyframes; (2) calculating a gyroscope deviation by using the keyframes in the step (1) and an IMU pre-integral construction cost function; (3) resolving gravity accelerometer bias, gravity acceleration, gravity acceleration calibration and gravity accelerometer bias by resolving a linear model among continuous frames; and (4) resolvingdimension and speed information by the gravity acceleration calibration in the step (3) and parameter separation. The initialization method disclosed by the invention is higher in initialization speed and has little influences to positioning accuracy. By using the method disclosed by the invention, the initialization time can be controlled within 10 s; and the speed increment of united initialization is of great significance to improve the real-time performance.

Description

technical field [0001] The invention relates to the technical field of robot vision positioning and navigation, in particular to a VIO fast joint initialization method based on a monocular camera. Background technique [0002] State estimation for smart mobile terminals has become a hot topic in computer vision and robotics because of its applications in emerging technologies such as micro air vehicles, autonomous vehicles, virtual reality and augmented reality. Traditional intelligent mobile terminal positioning is divided into outdoor positioning and indoor positioning. Outdoor positioning includes satellite positioning and base station positioning, while indoor positioning mainly relies on multi-sensor fusion. Among the different sensor systems, visual-inertial systems have attracted much attention due to their small size, low cost, and great potential. There are two main methods for estimating the pose of visual-inertial systems: nonlinear optimization methods and recu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20G06T7/73
CPCG01C21/16G01C21/20G06T7/75
Inventor 潘树国黄砺枭王帅曾攀
Owner SOUTHEAST UNIV
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