Visual inertial ranging method and system of tightly coupled vehicle wheel coder data

An encoder, tightly coupled technology, applied in the field of positioning and navigation of fusion multi-sensor
CN109764880AActive Publication Date: 2019-05-17INST OF AUTOMATION CHINESE ACAD OF SCI
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Patent Information

Authority / Receiving Office
CN Β· China
Current Assignee / Owner
INST OF AUTOMATION CHINESE ACAD OF SCI
Publication Date
2019-05-17

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Abstract

The invention relates to a visual inertial ranging method and system of tightly coupled vehicle wheel coder data. The visual inertial ranging method comprises the steps of: (1), setting the initialization state of the visual inertial ranging method to be unfinished, and obtaining a camera image, an inertial measurement unit IMU measurement value and a wheel coder reading in real time in initialization and measurement processes; (2), calculating an essential matrix between a current image and a previous-frame image, and adding the essential matrix and the corresponding IMU measurement value andwheel coder reading into a first sliding window and a second sliding window at the same time; (3), performing IMU-wheel coder pre-integration on the IMU measurement value and wheel coder reading corresponding to a last-frame image; judging whether the initialization state is finished or not, if so, executing the step (5), and otherwise, executing the step (4); (4), initializing parameters by utilizing a pre-integration result; (5), obtaining parameters corresponding to each image in the first sliding window; and (6), performing visual inertial ranging of the tightly coupled vehicle wheel coder data according to the parameters.
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Description

technical field

[0001] The invention relates to the field of multi-sensor fusion positioning and navigation, in particular to a visual inertial odometry method and system for tightly coupling vehicle wheel encoder data. Background technique

[0002] The visual-inertial odometry method using a camera and an IMU (Inertial Measurement Unit) has achieved good results in recent years because the information of vision and IMU has complementary characteristics. However, the scale estimation in the visual-inertial odometry method is sometimes inaccurate because of the special form of motion of the vehicle, for example, it tends to move approximately in a straight line with a constant velocity. Wheel encoders, on the other hand, provide accurate information for scaling, and their data is readily available. Therefore, fusing cameras, IMUs, and wheel encoders is a sensible choice for indoor vehicle localization.

[0003] Several existing methods fuse information from cameras, IMUs, a...

Claims

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