Resection Dynamic Pose Measurement System and Method Based on Inertial Measurement Unit

Abstract

The invention discloses a resection dynamic pose measurement system and method based on an inertial measurement unit. The system includes at least two cameras, an inertial measurement unit and a clock synchronization module, wherein the camera is used to increase the field of view of the measurement device, and the clock The synchronization module is used to achieve time alignment and data synchronization between the camera and the inertial measurement unit. The present invention uses a plurality of cameras to photograph the global control points, combines the measurement information of the inertial measurement unit to perform pose compensation, and determines the real-time pose of the camera according to the spatial resection principle, so as to overcome the misidentification of the control points caused by the rapid movement of the camera, On the premise of ensuring the measurement accuracy, the robustness and applicability of the resection dynamic pose measurement method are improved.

Description

technical field [0001] The invention relates to the field of precise measurement and positioning of industrial large-scale environments, in particular to a resection dynamic pose measurement system and method based on an inertial measurement unit. Background technique [0002] Spatial resection is one of the basic theories in the field of photogrammetry, and its goal is to determine the outer orientation elements of the camera through the global control points in the shooting space. The principle of spatial resection is the collinear conditional equation of the image. A camera with known internal parameters is used to capture several global control points with known coordinates in space, and then the collinear conditional constraint equation is established by combining the coordinates of the image point and the coordinates of the control point, namely It can solve the external parameters of the camera in the current pose state to realize the positioning of the camera. Spati...

AI Technical Summary

Problems solved by technology

The IMU has a high measurement frequency and can provide high-precision pose information in a short period of time. However, as the running time increases, the drift error of the IMU will also increase, which affects the accuracy of the pose solution.

[0004] Spatial resection technology uses cameras for image acquisition, which is easily affected by light, occlusions, viewing angles, etc., especially the jitter that occurs during camera movement will cause image blur, so that the recognition and matching of feature points cannot be realized

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