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

Active Publication Date: 2019-05-17
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Visual inertial ranging method and system of tightly coupled vehicle wheel coder data
  • Visual inertial ranging method and system of tightly coupled vehicle wheel coder data
  • Visual inertial ranging method and system of tightly coupled vehicle wheel coder data

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[0116] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.

[0117] The invention provides a visual-inertial odometry method tightly coupled with vehicle wheel encoder data, using the image of a monocular camera, the accelerometer data and gyroscope data in the IMU and the wheel encoder data, and integrating the IMU and the wheel encoder data in the pre-integration stage The wheel encoder data is used to perform camera tracking with an accurate scale of degrees of freedom during the nonlinear optimization stage, thereby reducing the error generated during vehicle driving.

[0118] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invent...

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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.

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...

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Application Information

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IPC IPC(8): G01C21/28
Inventor 刘津旭高伟胡占义
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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