Motion estimation method and mobile device
A mobile device, motion estimation technology, applied in the field of automation, to achieve the effect of improving accuracy
Active Publication Date: 2020-01-31
SZ DJI TECH CO LTD
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Problems solved by technology
[0006] However, the motion estimation method based on the visual system relies on the texture information of the captured image. If the scene where the mobile device is currently located is dark or textureless, it is difficult for the visual system to perform accurate motion estimation on the mobile device.
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[0020] The mobile devices mentioned in the embodiments of this application can be, for example, handheld photographic equipment (such as selfie sticks, pan-tilts, etc.), aerial vehicles, unmanned vehicles, drones, virtual reality (virtual reality, VR) glasses, augmented reality (augmented reality, AR) glasses, a mobile phone (such as a mobile phone with dual cameras), etc., or any other type of vehicle with cameras or cameras (such as multiple cameras).
[0021] Vision systems are increasingly used on mobile devices. The following uses the application of the vision system on the drone as an example to illustrate the application of the vision system. In order to improve the motion estimation or positioning capabilities of UAVs, some UAV manufacturers have installed a positioning system that combines a visual system and an inertial navigation system (referred to as a visual-inertial navigation system) on the UAV. A simple visual-inertial navigation system can consist of a camer...
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Provided are a motion estimation method and a mobile device. The method comprises: detecting whether a scene where a mobile device is currently located is a dim scene or a texture-less scene; when thescene is a dim scene or a texture-less scene, using a distance-measuring module on the mobile device to acquire a first depth map of the scene; according to the first depth map, determining the vertical distance between the mobile device and the ground at the current moment; and according to the vertical distance between the mobile device and the ground at a previous moment, and the vertical distance between the mobile device and the ground at the current moment, determining the speed of motion of the mobile device in the vertical direction from the previous moment to the current moment. Theuse of a distance-measuring module is irrelevant to the ambient brightness and texture; therefore, the accuracy of motion estimation of a mobile device in a dim scene or a texture-less scene can be improved.
Description
[0001] Copyright statement [0002] The disclosure of this patent document contains material that is protected by copyright. This copyright belongs to the copyright owner. The copyright owner has no objection to the reproduction by anyone of the patent document or the patent disclosure as it exists in the official records and files of the Patent and Trademark Office. technical field [0003] The present application relates to the field of automation, and more specifically, to a motion estimation method and a mobile device. Background technique [0004] With the development of computer vision technology, the application of computer vision system is more and more extensive. [0005] The computer vision system (hereinafter referred to as the vision system) can be used to calculate the pose change of the mobile device from the previous moment to the current moment, so as to estimate the motion of the mobile device (or track the mobile device). [0006] However, the motion est...
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IPC IPC(8): H04N5/14
CPCH04N5/147G06T7/246G06T2207/10028G06T2207/10016H04N5/145G01C21/1652G01C21/1656H04N23/6812H04N23/73H04N23/74G06T7/207G06T7/579G06T7/13G06T7/529
Inventor 叶长春周游严嘉祺
Owner SZ DJI TECH CO LTD