Monocular vision odometer pose processing method based on IMU assistance

Abstract

The invention discloses a monocular vision odometer pose processing method based on IMU assistance. The method comprises: performing ORB feature extraction on continuous images collected by a monocular camera; pre-integrating the IMU data between moments of two adjacent frames of images at the same time; outputting the camera pose at each moment according to the relation between the number of theextracted feature points and a set threshold value, if the number of the feature points is greater than the set threshold value, judging that the image is a normal image sequence, solving the motion pose of the camera by adopting a pure visual model, and then optimizing the camera pose by utilizing the reprojection error of the image; and if the number of the feature points is smaller than a set threshold value, judging that the image is a feature point missing image, and obtaining a camera pose between the feature point missing images by adopting an inertial measurement unit (IMU) pre-integration model. According to the method, the calculation speed is high, the robustness to motion is achieved, and the mapping accuracy is improved.

Description

technical field [0001] The invention belongs to the technical field of computer vision and robotics, and in particular relates to a method for processing poses and postures of a monocular vision odometer based on IMU assistance. Background technique [0002] Since the GPS cannot accurately obtain its own accurate position information indoors, the mobile robot will have a large deviation during the navigation process. At this time, Simultaneous localization and mapping (SLAM) technology came into being. SLAM technology can use sensors to perceive the surrounding environment in an unknown environment and lack of GPS signals, and build a map of the surrounding environment to locate its own position, so as to achieve the purpose of navigation. In SLAM technology, compared with binocular cameras and RGB-D cameras, monocular cameras have complex algorithm calculations, but they are cheap and easy to transplant to mobile phones and other mobile terminals, and have broad market appl...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that monocular pure vision SLAM has insufficient number of extracted feature points in the case of too fast movement, blurred image, single motion scene, etc., which leads to the failure of monocular vision odometer positioning, and proposes a method based on monocular vision information and SLAM visual odometry pose processing method based on IMU information fusion

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