Visual inertia speedometer method, visual inertia speedometer device and mobile equipment

An odometer and inertial technology, applied in computing, computer parts, image data processing, etc., can solve problems such as mismatching, tracking loss, and pose estimation failure, so as to improve feature matching rate, improve accuracy rate, and reduce loss The effect of the probability

Active Publication Date: 2019-09-17
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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Problems solved by technology

However, existing visual-inertial odometry methods are prone to phenomena su

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  • Visual inertia speedometer method, visual inertia speedometer device and mobile equipment
  • Visual inertia speedometer method, visual inertia speedometer device and mobile equipment
  • Visual inertia speedometer method, visual inertia speedometer device and mobile equipment

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[0022] In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are proposed for a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from obstructing the description of this application.

[0023] It should be understood that when used in this specification and appended claims, the term "comprising" indicates the existence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude one or more other features The existence or addition of, whole, step, operation, element, component and / or its collection.

[0024] It should also be under...

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Abstract

The invention is applicable to the technical field of SLAM, and provides a visual inertial speedometer method, a visual inertial speedometer device, mobile equipment and a computer readable storage medium, and the method comprises the steps: obtaining the edge information of a current frame image and the edge information of a previous frame image; extracting feature points and edge sampling points of the current frame of image according to the edge information of the current frame of image, and extracting feature points and edge sampling points of the previous frame of image according to the edge information of the previous frame of image; and constructing an optimization function according to the feature point and the edge point of the current frame of image, the feature point and the edge sampling point of the previous frame of image and the IMU pre-integration, and outputting the pose of the mobile device by the optimization function. According to the invention, the feature matching rate can be improved, the feature tracking loss probability is reduced, and the pose estimation accuracy is improved.

Description

Technical field [0001] This application belongs to the technical field of SLAM, and in particular relates to a visual inertial odometer method, a visual inertial odometer device, a mobile device, and a computer-readable storage medium. Background technique [0002] Simultaneous Localization And Mapping (SLAM) technology is widely used in drones, unmanned driving, robots, augmented reality (AR), smart homes and other fields. The Visual Odometry (VO) is a vital part of the SLAM system. The motion of the mobile device is estimated through the sequence pictures taken by the camera, and then the motion trajectory of the mobile device is restored. However, the existing visual inertial odometry methods are prone to mismatch or tracking loss, which leads to the failure of pose estimation. Summary of the invention [0003] In view of this, the embodiments of the present application provide a visual inertial odometer method, a visual inertial odometer method, a mobile device, and a compute...

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Application Information

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IPC IPC(8): G06T7/13G06T7/40G06T7/73G06K9/62G06K9/46G06K9/00
CPCG06T7/13G06T7/40G06T7/73G06V20/48G06V10/757G06V10/462Y02T10/40
Inventor 郝洛莹程俊张锲石
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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