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A fast joint initialization method of vio based on monocular camera

An initialization method and camera technology, which are used in navigation, image analysis, instruments, etc. through speed/acceleration measurement to achieve the effect of improving real-time performance, fast initialization speed, and low positioning accuracy

Active Publication Date: 2021-10-29
SOUTHEAST UNIV
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AI Technical Summary

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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  • A fast joint initialization method of vio based on monocular camera
  • A fast joint initialization method of vio based on monocular camera
  • A fast joint initialization method of vio based on monocular camera

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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 fast joint initialization method based on a monocular camera, comprising the following steps: (1) processing a few seconds of video with ORB-SLAM to obtain an initial pose and several key frames; (2) by The key frame in step (1) and the IMU pre-integration construct the cost function to calculate the gyroscope bias; (3) calculate the gravity accelerometer bias, gravity acceleration, gravity acceleration calibration and gravity accelerometer by solving the linear model between consecutive frames Offset; (4) Obtain the scale and velocity information through the gravitational acceleration calibration and parameter separation in step (3). The initialization method of the invention has a faster initialization speed and has little influence on the positioning accuracy. The method proposed by the invention can control the initialization time within 10 seconds; increasing the speed of joint initialization is of great significance for improving 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 Patents(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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