Optimization-based visual inertia combined measurement method applied to real estate measurement
An inertial combination and measurement method technology, applied in the field of surveying and mapping, can solve problems such as insufficient accuracy and poor stability, and achieve the effects of high robustness, measurement stability and reliability.
Active Publication Date: 2020-08-18
SOUTHEAST UNIV
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[0004] Purpose of the invention: In view of the limitation of the information obtained by a single sensor, the problems of insufficient precision and poor stability, the present invention proposes to use the visual-inertial combination measurement method to complete the real estate measurement work, and realize the improvement of the measurement system under the premise of meeting a certain measurement accuracy. Purpose of measurement efficiency, measurement reliability and stability
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[0063] In order to verify the validity of the method of the present invention, the verification of simulation and half-physical experiment is carried out respectively. The simulation setting is that the moving time of the carrier is 39.9993s, and the total length of the moving track is 58.3886m; the carrier moves in an ellipse in the xy plane of the world coordinate system, and the semi-major axis and semi-minor axis are 6m and 3m respectively. Sinusoidal motion is done in the z-axis direction, and the amplitude and frequency are 0.3m and 0.2π respectively. The method experimental result of the present invention is compared with strapdown inertial measurement system result see figure 2 , image 3 .
[0064] The hardware-in-the-loop experimental verification is verified using a public data set. The MH_04_difficult data sequence in the EuRoC data set is used as the experimental data. The total length of the trajectory of the carrier movement in the data set is 91.747m, the mo...
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The invention discloses an optimization-based visual inertia combined measurement method applied to real estate measurement. In the real estate measurement process, a visual inertia combined measurement method is provided for the situation that a GPS signal is shielded or the intervisibility condition is poor, and the method mainly relates to camera and IMU data processing, system initialization,a data fusion algorithm and other aspects. Firstly, feature point extraction, tracking and matching are carried out on an image collected by a camera, and pre-integration is carried out on data collected by an IMU; secondly, a good initial value is provided for nonlinear optimization through joint initialization of a camera and an IMU; then an objective function is established by constructing a visual reprojection error, an IMU measurement error and a priori information error; and finally, the target function is minimized by using a nonlinear optimization method, and the optimal position at each moment is solved in the motion process of the carrier. The visual inertia combined measurement method has the beneficial effects that the measurement positioning precision, the measurement stability and the measurement reliability of the real estate are improved.
Description
technical field [0001] The invention belongs to the technical field of surveying and mapping, and in particular relates to an optimization-based visual-inertial combination measurement method applied to real estate measurement. Background technique [0002] In real estate measurement, GPS is the most widely used measurement method. In the case of GPS signal loss, the strapdown inertial measurement system is generally used to complete the real estate measurement work. The inertial measurement unit (IMU, including gyroscope and accelerometer) The angular increment and specific force information of the sensitive carrier, and then calculate the attitude, speed, position and other information of the carrier, and realize the measurement and positioning function of real estate. [0003] The strapdown inertial measurement method is suitable for real estate measurement when the GPS signal is easily blocked or the visibility condition is poor. However, the error of the inertial sensor...
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Login to View More IPC IPC(8): G06T7/246G06T7/269G06K9/46
CPCG06T7/246G06T7/269G06T2207/10016G06T2207/20016G06V10/44
Inventor 吴峻陈兆国刘凯
Owner SOUTHEAST UNIV