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Data processing method and device, mobile platform and computer readable storage medium

A technology of data processing device and mobile platform, which is applied in measuring devices, TVs, color TVs, etc., can solve problems such as lack of effective observation, and achieve the effect of improving the shooting quality

Inactive Publication Date: 2021-01-08
SZ DJI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in some specific cases, such as the take-off stage of the movable platform, the downward-looking visual positioning camera is close to the ground, and there is no effective observation, so the visual odometer cannot be used to stabilize the movable platform during the take-off stage.

Method used

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  • Data processing method and device, mobile platform and computer readable storage medium
  • Data processing method and device, mobile platform and computer readable storage medium
  • Data processing method and device, mobile platform and computer readable storage medium

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Experimental program
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Embodiment Construction

[0067] The relevant content involved in this article is briefly described below.

[0068] 1. Visual-inertial odometer

[0069] Visual-inertial odometry (VIO, visual-inertial odometry) is an algorithm that fuses camera and IMU (Inertialmeasurement unit, inertial measurement unit) data for positioning, attitude measurement, speed measurement, etc. Currently, visual-inertial odometry using cameras and IMU inertial measurement units is mainly divided into two categories: loosely coupled and tightly coupled. The loosely coupled visual-inertial odometry uses two relatively independent visual motion modules and inertial navigation motion estimation modules to estimate the motion state respectively, and then fuse the output results of each module to obtain the final pose information. Tightly coupled visual-inertial odometry directly fuses the original information of two sensors, jointly estimates, restricts and complements each other, makes full use of the characteristics of the sens...

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Abstract

The embodiment of the invention provides a data processing method, a data processing device, a mobile platform and a computer readable storage medium. The data processing method is applied to a movable platform, a first camera and a first inertial measurement unit are arranged on the movable platform, and the first camera is used for collecting image frames in a shutter rolling mode; wherein the first inertial measurement unit is used for measuring inertial data of the movable platform, and the method comprises the following steps: acquiring an estimated attitude of the first camera; constructing an optimization equation according to the inertial data measured by the first inertial measurement unit and the image frames acquired by the first camera; and optimizing the estimated attitude through the optimization equation to generate an optimized attitude of the first camera. By adopting the technical scheme provided by the embodiment of the invention, when the positioning camera (namelythe global shutter exposure camera) cannot work, the optimized pose information can be continuously and accurately output.

Description

technical field [0001] The present application relates to the field of automatic control, and in particular to a data processing method, a data processing device, a movable platform, and a computer-readable storage medium. Background technique [0002] Movable platforms, such as unmanned aerial vehicles (UAVs), can be used to perform surveillance, reconnaissance, and exploration missions for a variety of civil, commercial, and military applications. The movable platform can be manually controlled by a remote user, or can be operated in a semi-autonomous or fully autonomous manner. The movable platform may include sensors configured to collect data that may be used during UAV operation, such as image data, inertial data. [0003] Currently, movable platforms can use visual-inertial odometry for localization, attitude measurement, velocity measurement, etc. Visual-inertial odometry (VIO, visual-inertial odometry) is an algorithm that fuses the image frames collected by the c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04N5/232H04N5/235G01C21/16
CPCG01C21/165H04N23/80H04N23/685H04N23/73H04N23/695
Inventor 高文良周游叶长春
Owner SZ DJI TECH CO LTD
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