Pose determination method and device, odometer

Abstract

The present invention provides a pose determination method and device, and an odometer. By acquiring N consecutive image frames in an image frame sequence and minimizing a preset objective function, the pose is obtained. The objective function includes the first item and the second item, the first item is the photometric measurement residual item between adjacent frames in the image frame, the second item is the state parameter measurement residual item between adjacent frames, any two adjacent The photometric residual between frames is obtained by minimizing the photometric error of the pixels between the two frames. It can be seen that the technical solution provided by this application fuses the visual data (image frame) with the IMU measurement data (state parameter measurement residual) to determine the pose, therefore, it has higher accuracy. At the same time, the first term of the objective function uses the photometric error of the pixel point between two frames instead of the re-projection error, so the geometric position error caused by re-projection in the re-projection error is avoided, so it can be further improved. Improve pose accuracy.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a pose determination method and device, and an odometer. Background technique [0002] With the rapid development of science and technology, autonomous robots, as cutting-edge products of technological development, have gradually come into people's field of vision. As an effective sensor for the relative positioning of the autonomous robot, the odometer provides real-time pose information for the autonomous robot, ensuring that the autonomous robot can learn the surrounding scene structure in real time. Simultaneous localization and mapping (SLAM) technology, as the core technology in odometry, can reconstruct the three-dimensional structure of the environment in real time in an unknown environment and simultaneously position the robot itself. In SLAM technology, the specific purpose of SLAM technology is to simultaneously restore the camera motion parameters and the thr...

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a pose determination method and device, and an odometer, the purpose of which is to solve the problem of how to improve the accuracy of measuring pose

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