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Initialization method, device, electronic equipment and storage medium of visual-inertial system

An inertial system and initialization technology, applied in the field of computer vision, can solve the problems of slow initialization and the influence of system state stability, and achieve the effect of improving speed and high stability

Active Publication Date: 2022-04-08
ZHEJIANG SENSETIME TECH DEV CO LTD
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Problems solved by technology

The visual-inertial system can use the data collected by visual sensors and inertial sensors to obtain high-precision poses and complete the construction of one-dimensional or multi-dimensional environmental maps. However, the visual-inertial system must be initialized every time it is started, and each Using offline calibrated parameters will affect the stability of the system state, resulting in slower system initialization

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[0061] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0062] The terms "comprising" and "having" and any variations thereof appearing in the specification, claims and drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also incl...

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Abstract

The present application provides a visual-inertial system initialization method, device, electronic equipment, and storage medium, wherein the method includes: initializing the visual-inertial system with off-line calibration parameters; The tracking state is determined to obtain the first hot start parameter; the first hot start parameter is updated according to the stable state and the tracking state; moment of initialization. The embodiment of the present application is beneficial to increase the initialization speed of the visual-inertial system.

Description

technical field [0001] The present application relates to the technical field of computer vision, and in particular to a visual-inertial system initialization method, device, electronic equipment and storage medium. Background technique [0002] With the development of computer vision technology, the Visual-Inertial Simultaneous Localization and Mapping (VI-SLAM) system based on visual and inertial sensors (hereinafter referred to as the visual-inertial system) is widely used in virtual reality, unmanned aerial vehicles, etc. , mobile robots, unmanned driving and other fields. The visual-inertial system can use the data collected by visual sensors and inertial sensors to obtain high-precision poses and complete the construction of one-dimensional or multi-dimensional environmental maps. Using off-line calibrated parameters will affect the stability of the system state, resulting in slower system initialization. Contents of the invention [0003] In view of the above prob...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01S11/12
CPCG01C21/165G01S11/12
Inventor 陈常王楠陈丹鹏
Owner ZHEJIANG SENSETIME TECH DEV CO LTD
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