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Visual inertia odometer method based on IMU pre-integration

An odometer and pre-integration technology, applied in the field of visual-inertial odometer based on IMU pre-integration, can solve problems such as visual navigation influence

Active Publication Date: 2020-04-10
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, visual navigation is easily affected by environmental conditions, such as lighting, weather and other natural environments.

Method used

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  • Visual inertia odometer method based on IMU pre-integration
  • Visual inertia odometer method based on IMU pre-integration
  • Visual inertia odometer method based on IMU pre-integration

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Embodiment Construction

[0117] Such as figure 1 Shown, a kind of visual-inertial odometer method based on IMU pre-integration of the present invention comprises the following steps:

[0118] Step 1: Build a visual-inertial odometer system, define the reference coordinate system of the IMU fixed on the carrier as the I system; define the reference coordinate system of the camera fixed on the carrier as the C system; take the initial position of the camera as the origin of the world coordinate system , establish the world coordinate system for the XYZ axis on the upper right, that is, the G system; define the coordinate system of the carrier to coincide with the I system; collect camera sensor and IMU sensor data during the motion of the carrier;

[0119] Step 2: Construct system state vector and error vector, and establish IMU motion equation and error state equation;

[0120] Step 3: Construct the covariance matrix of the discretized system, and perform zero-order quaternion integration to calculate...

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Abstract

The invention discloses a visual inertia odometer method based on IMU pre-integration. The visual inertia odometer method comprises the steps of acquiring visual and IMU sensor data of a carrier undera fixed coordinate system; constructing a system state vector and an error vector, and establishing an IMU motion equation and an error state equation; constructing a discretization system covariancematrix, executing zero-order quaternion integration by IMU measurement to calculate the rotation of the IMU at the current moment, and executing an IMU pre-integration algorithm to calculate the position and speed of the IMU at the current moment; augmenting the system state vector, and augmenting the system covariance matrix; establishing a measurement model of a camera sensor; constructing a system observation model through camera observation; and executing system filtering updating to obtain a pose of the carrier. According to the invention, the positioning precision of the visual inertiaodometer in a filtering mode can be improved.

Description

[0001] A visual-inertial odometry method based on IMU pre-integration technical field [0002] The invention relates to the technical field of multi-sensor data fusion for moving carrier navigation, in particular to a visual-inertial odometer method based on IMU pre-integration. Background technique [0003] Simultaneous localization and mapping has always been considered as a key technology in the field of mobile robots. In unfamiliar environments, autonomous movement of robots has become a research hotspot in the field of mobile robots. In the past few decades, many researchers devoted themselves to the field of mobile robotics. Autonomous robots are different from traditional robots in that they can move autonomously without human control, and can complete tasks such as rescue in unfamiliar environments. [0004] Inertial navigation is a technology developed from Newton's second law of motion theory. It measures the rotational angular velocity and acceleration of the mob...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20G01C22/00
CPCG01C21/165G01C21/20G01C22/00
Inventor 徐晓苏吴贤潘绍华候岚华安仲帅
Owner SOUTHEAST UNIV
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