Handheld volume measuring device based on inertial equipment and camera
A technology of inertial equipment and volume measurement, which is applied in the direction of measuring devices, optical devices, instruments, etc., can solve the problems of high power consumption, increased cost of 3D cameras, inaccessibility, etc., and achieve the effect of low cost
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[0051] The body implementation process is as follows:
[0052] Step 1: Calculate the camera relative pose between each frame of images
[0053] Step 2: Pre-integration of the inertial device between each frame of images
[0054] Step 3: Align the inertial device with the camera
[0055] Calculate pose and point cloud. One frame of data from a monocular color lens cannot estimate the depth data of an object, but multiple frames of data can be used to simulate the depth value of a color binocular lens. Such as figure 2 As shown, according to the imaging principle of the camera, point P can be projected onto point P1 of the image, and line segment C1-P can be projected onto the black straight line in the figure, which is the epipolar line.
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