Calibration method and device for relative attitude of camera and inertial measurement unit
An inertial measurement unit and relative attitude technology, applied in the field of calibration, to achieve the effect of improving accuracy
Active Publication Date: 2022-01-14
SHENZHEN ORBBEC CO LTD
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[0004] In view of this, the embodiment of the present invention provides a method and device for calibrating the relative attitude of the camera and the inertial measurement unit to solve the technical problem of how to accurately obtain the attitude relationship between the IMU and the camera
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[0026] In order to illustrate the technical solutions of the present invention, the following will be described with reference to the accompanying drawings and in combination with embodiments.
[0027] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without any creative effort shall fall within the protection scope of the present invention. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can ...
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The present invention is applicable to the technical field of calibration, and provides a method and device for calibrating the relative posture of a camera and an inertial measurement unit. The method includes: performing internal parameter calibration on the camera and the inertial measurement unit; Both are arranged on the mechanical arm; drive the mechanical arm to carry the camera and the inertial measurement unit to move on a preset trajectory, and at the same time collect the first image data of the calibration plate through the camera and the first inertial measurement unit through the inertial measurement unit Measuring unit data; when the camera is a rolling shutter camera, perform a rolling shutter calibration on the camera and acquire corresponding parameter values; when the parameter value is within a first preset range, according to the first image data and the first inertial measurement unit data, and calculate the relative extrinsic parameters of the camera and the inertial measurement unit. The method provided by the invention improves the accuracy of calibrating the relative poses of the camera and the IMU.
Description
technical field [0001] The invention relates to the technical field of calibration, in particular to a calibration method and device for the relative attitude of a camera and an inertial measurement unit. Background technique [0002] In the fields of simultaneous localization and mapping (SLAM), drone navigation, motion capture, and augmented reality, cameras and inertial measurement units (International Mathematical Union, IMU) are often bound to a moving object. Through the fusion of the two information, a more accurate pose is determined. Because there is a certain deviation between the coordinate system of the IMU and the coordinate system of the camera, there is a certain pose relationship between the IMU and the camera. Therefore, it is necessary to calibrate the pose relationship between the IMU and the camera. [0003] How to simply and accurately obtain the attitude relationship between the IMU and the camera has become an urgent problem to be solved. Contents ...
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IPC IPC(8): G06T7/80G01C25/00
CPCG06T7/80G06T7/85G01C25/005
Inventor 庞敏健刘贤焯黄志明曾杰王晓梦杨洪飞
Owner SHENZHEN ORBBEC CO LTD