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Method and device for estimating pose of object

A pose estimation and object technology, applied in the field of pose estimation, can solve problems such as errors, and achieve the effect of improving accuracy and accurate pose estimation results.

Active Publication Date: 2019-04-16
BOE TECH GRP CO LTD +1
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  • Claims
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Problems solved by technology

[0003] In practical applications, the inventors of the present invention found that although the existing pose estimation algorithm uses a vector sensor to correct the pose obtained by the gyroscope, there are still certain errors. It is necessary to further improve the accuracy of the pose estimation algorithm and provide more For accurate pose estimation results

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  • Method and device for estimating pose of object

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Embodiment Construction

[0035] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0036] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0037] Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that when an element is referred to as being "connected" or "coupled" to another el...

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Abstract

The invention discloses a method and device for estimating the pose of an object. The method comprises: performing low-pass filtering on an acceleration measurement value, outputted by the accelerometer, of an object to obtain a gravity acceleration measurement value; and correcting an initial estimated post value, obtained by a gyroscope, of the object based on the gravity acceleration measurement value to obtain a final estimation result of the pose of the object. Therefore, the accuracy of the pose estimation algorithm is improved; and the accurate pose estimation result is provided.

Description

technical field [0001] The present invention relates to the technical field of pose estimation, in particular to a method and device for estimating the pose of an object. Background technique [0002] Many application scenarios hope to obtain the accurate attitude of objects or human bodies in real time, such as: quadrotor UAV, satellite launch, missile navigation, VR (virtual reality), etc. The method of obtaining the final accurate attitude through the measurement data obtained by multiple vector sensors and gyroscopes is called the attitude estimation algorithm. There are many kinds of pose estimation algorithms, such as the pose estimation algorithm based on extended Kalman filter, complementary filter pose estimation algorithm, gradient descent pose estimation algorithm, QUEST algorithm, etc. The angular velocity is measured by the gyroscope, and the current pose can be obtained according to the quaternion differential equation. However, this calculation method can be...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18
CPCG01C21/18
Inventor 董泽华陈丽莉张浩楚明磊孙建康马福强栗可范清文薛鸿臻
Owner BOE TECH GRP CO LTD
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