Methods, apparatus and systems for calibrating inertial measurement units

Abstract

This disclosure provides a method, apparatus, and system for calibrating inertial measurement units (IMUs). The method includes: acquiring a sequence of image pairs captured by a binocular camera on a calibration board during the movement of a robotic arm from an initial position to an ending position along a preset trajectory, and determining the parameter data of the binocular camera; fixing a first IMU and a second IMU to be tested onto the robotic arm, and controlling the robotic arm to move according to the previously described motion pattern; acquiring a first inertial data sequence collected by the first IMU and a second inertial data sequence collected by the second IMU during the robotic arm's movement; and calibrating the first IMU and the second IMU based on the parameter data, the first inertial data sequence, and the second inertial data sequence. This disclosure can improve calibration efficiency when calibrating multiple IMUs.

Description

Technical Field

[0001] This disclosure relates to the field of measurement technology, and in particular to a method, apparatus and system for calibrating an inertial measurement unit (IMU). Background Technology

[0002] In scenarios such as Virtual Reality (VR), Augmented Reality (AR), or Mixed Reality (MR), the terminal provides users with an interactive and immersive experience by constructing a virtual environment.

[0003] Head-mounted display devices, such as VR or AR glasses, typically use IMUs to collect posture data. To reduce IMU measurement errors, it is usually necessary to calibrate the IMUs of head-mounted display devices. Improving the efficiency of IMU calibration when calibrating multiple head-mounted display devices is a pressing issue that needs to be addressed. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure is proposed. Embodiments of this disclosure provide a method, apparatus, and system for calibrating an inertial measurement unit.

[0005] According to a first aspect of the present disclosure, a method for calibrating an inertial measurement unit is provided, comprising:

[0006] During the process of the robotic arm moving from the initial position to the final position according to the preset motion trajectory, the sequence of image pairs acquired by the binocular camera on the robotic arm is obtained from the calibration plate.

[0007] Based on the image pair sequence, the parameter data of the stereo camera is determined, including: the intrinsic parameters of each stereo camera and the extrinsic parameters of the stereo camera;

[0008] The first inertial measurement unit to be tested is fixed on the robotic arm. During the process of the robotic arm moving from the initial position to the end position according to the preset motion trajectory, the first inertial data sequence collected by the first inertial measurement unit to be tested is acquired.

[0009] The first inertial measurement unit under test is calibrated based on the parameter data and the first inertial data sequence.

[0010] The second inertial measurement unit to be tested is fixed on the robotic arm. During the process of the robotic arm moving from the initial position to the end position according to the preset motion trajectory, the second inertial data sequence collected by the second inertial measurement unit to be tested is acquired.

[0011] The second inertial measurement unit under test is calibrated based on the parameter data and the second inertial data sequence.

[0012] According to a second aspect of the present disclosure, an apparatus for calibrating an inertial measurement unit is provided, comprising:

[0013] The image acquisition module is used to acquire a sequence of image pairs acquired by the binocular camera on the robotic arm to the calibration plate during the process of the robotic arm moving from the initial position to the final position according to the preset motion trajectory.

[0014] The camera parameter determination module is used to determine the parameter data of the stereo camera based on the image pair sequence. The parameter data includes the intrinsic parameters of each stereo camera and the extrinsic parameters of the stereo camera.

[0015] The inertial data acquisition module is used to acquire a first inertial data sequence collected by the first inertial measurement unit under test when the first inertial measurement unit under test is fixed on the robotic arm and the robotic arm moves from the initial position to the terminal position according to a preset motion trajectory; the inertial data acquisition module is also used to acquire a second inertial data sequence of the second inertial measurement unit under test when the second inertial measurement unit is fixed on the robotic arm and the robotic arm moves from the initial position to the terminal position according to a preset motion trajectory.

[0016] The inertial measurement unit calibration module is used to calibrate the first inertial measurement unit under test based on parameter data and a first inertial data sequence; the inertial measurement unit calibration module is also used to calibrate the second inertial measurement unit under test based on parameter data and a second inertial data sequence.

[0017] According to a third aspect of the present disclosure, a system for calibrating an inertial measurement unit is provided, comprising:

[0018] A robotic arm system, including a robotic arm and a drive system that drives the movement of the robotic arm;

[0019] The fixture, mounted on the robotic arm, is used to hold the binocular camera and the inertial measurement unit to be tested.

[0020] And the apparatus for calibrating the inertial measurement unit as described in the second aspect above.

[0021] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, which stores a computer program for performing the method of the first aspect described above.

[0022] According to a fifth aspect of the present disclosure, an electronic device is provided, the electronic device comprising:

[0023] processor;

[0024] Memory used to store processor-executable instructions;

[0025] A processor for reading executable instructions from memory and executing the instructions to implement the method of the first aspect described above.

[0026] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0027] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0028] Figure 1 This is an exemplary system architecture diagram that can be applied to embodiments of the method or apparatus for calibrating an inertial measurement unit disclosed herein;

[0029] Figure 2 This is a flowchart illustrating a method for calibrating an inertial measurement unit according to one embodiment of this disclosure;

[0030] Figure 3 This is a schematic diagram of the process for determining reference data in one embodiment of this disclosure;

[0031] Figure 4 This is a flowchart illustrating the process of determining whether parameter data meets expectations and making corresponding adjustments based on the determination result in one embodiment of this disclosure;

[0032] Figure 5 This is a structural block diagram of a device for calibrating an inertial measurement unit according to one embodiment of this disclosure;

[0033] Figure 6 This is a structural diagram of an electronic device provided in an exemplary embodiment of this disclosure. Detailed Implementation

[0034] Hereinafter, exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present disclosure, and not all embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the exemplary embodiments described herein.

[0035] It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this disclosure.

[0036] Those skilled in the art will understand that the terms "first," "second," etc., in the embodiments of this disclosure are only used to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them.

[0037] It should also be understood that in the embodiments disclosed herein, "a plurality of" may refer to two or more, and "at least one" may refer to one, two or more.

[0038] It should also be understood that any component, data or structure mentioned in the embodiments of this disclosure can generally be understood as one or more unless expressly defined or given to the contrary in the context.

[0039] Furthermore, the term "and / or" in this disclosure is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this disclosure generally indicates that the preceding and following related objects have an "or" relationship.

[0040] It should also be understood that the description of the various embodiments in this disclosure emphasizes the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, they will not be described in detail.

[0041] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0042] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0043] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0044] The embodiments disclosed herein can be applied to electronic devices such as terminal devices, computer systems, and servers, and can operate together with a wide range of other general-purpose or special-purpose computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments, and / or configurations suitable for use with electronic devices such as terminal devices, computer systems, and servers include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputer systems, mainframe computer systems, and distributed cloud computing environments including any of the above systems, etc.

[0045] Electronic devices such as terminal devices, computer systems, and servers can be described in the general context of computer system executable instructions (such as program modules) executed by a computer system. Typically, program modules can include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in distributed cloud computing environments, where tasks are executed by remote processing devices linked through communication networks. In distributed cloud computing environments, program modules can reside on local or remote computing system storage media, including storage devices.

[0046] Figure 1 This is an exemplary system architecture diagram that can be applied to embodiments of the method or apparatus for calibrating an inertial measurement unit disclosed herein.

[0047] like Figure 1 As shown, the system architecture may include a robotic arm 1, a fixture 2, a binocular camera 3, a calibration board 4, a head-mounted display device 5, and a processor (not shown) for calibrating the inertial measurement unit.

[0048] Robotic arm 1 is mounted on the ground or on a flat worktable. Robotic arm 1 can move accordingly based on drive commands from a driving device. The driving device can be a stepper motor, which drives the robotic arm to move precisely according to the drive commands. Generally, it is assumed that the positioning accuracy of the robotic arm at a designated point meets the calibration requirements; if the positioning accuracy is insufficient, it can be compensated for through calibration.

[0049] The fixture 2 is mounted on the robotic arm 1, for example, either detachably or fixedly. The fixture 2 is equipped with a fixing component for mounting the binocular camera 3 and the head-mounted display device 5, wherein the binocular camera 3 and the head-mounted display device 5 are detachably connected to the fixture 2. Alternatively, the position of the fixing component on the fixture 2 can be adjusted with multiple degrees of freedom, such as 3 degrees of freedom or 6 degrees of freedom, thereby adjusting the pose of the binocular camera 3 and the head-mounted display device 5 located on the fixture 2.

[0050] The parameter data of the stereo camera 3 can include: the intrinsic parameters of each stereo camera, and the extrinsic parameters of the stereo cameras. The intrinsic parameters describe the internal parameters of the cameras, including the principal point position and focal length. The extrinsic parameters describe the relative positional relationship between the two cameras, including rotation vectors representing the rotational relationship between the two camera coordinate systems, and translation vectors representing the translational relationship between the two camera coordinate systems. The parameter data of the stereo camera 3 is not limited to this and can be flexibly adjusted according to actual needs. Furthermore, the stereo camera 3 can be connected to a processor via a network to send the image data acquired by the stereo camera 3 to the processor.

[0051] Calibration plate 4 can be used as follows Figure 1 The setup is shown below the binocular camera 3. Calibration patterns are provided on the calibration plate.

[0052] The head-mounted display device 5 has a built-in inertial measurement unit (IMU). The IMU can be connected to the processor via a network, thereby sending IMU data to the processor. There can be multiple head-mounted display devices 5, for example, a first head-mounted display device and a second head-mounted display device. The first head-mounted display device has a built-in first inertial measurement unit, and the second head-mounted display device has a built-in second inertial measurement unit.

[0053] The processor, after the binocular camera 3 is fixed at a predetermined position on the fixture 2, controls the robotic arm 1 to move from a predetermined initial position to a predetermined end position according to a preset motion trajectory. It also controls the binocular camera 3 to synchronously acquire images at the same frequency during the movement of the robotic arm 1, thereby obtaining a sequence of image pairs acquired by the binocular camera 3 against the calibration plate 4. The processor can then perform data processing and analysis on the image pair sequence to obtain the parameter data of the binocular camera 3.

[0054] After obtaining the parameter data from the binocular camera 3, the robotic arm 1 can be controlled to move back to its initial position. Assuming the repeatability of the robotic arm 1 meets the calibration requirements, and the parameter data of the binocular camera 3 and the pose of the calibration plate 4 remain unchanged, the inertial measurement unit of the head-mounted display device is calibrated. The repeatability of the robotic arm refers to the precision with which the robotic arm reaches the same position when the action is repeated multiple times.

[0055] The first head-mounted display device is fixed onto fixture 2. The robotic arm 1 is controlled to move from its initial position to its final position along a preset trajectory, and acquires the first inertial data sequence collected by the first inertial unit to be measured. The processor calibrates the first inertial unit to be measured based on the first inertial data sequence and the parameter data from the binocular camera 3.

[0056] After calibrating the first inertial unit to be measured, the first head-mounted display device is removed from fixture 2, and then the second head-mounted display device is fixed in the position where the first head-mounted display device was previously placed. The robotic arm 1 is controlled to move from the initial position to the final position according to the preset motion trajectory, and acquire the second inertial data sequence collected by the second inertial unit to be measured. The processor calibrates the second inertial unit to be measured based on the second inertial data sequence and the parameter data of the binocular camera 3.

[0057] Understandably, when the repeatability of robotic arm 1 is high and the parameter data of binocular camera 3 and the pose of calibration plate remain unchanged, when calibrating the inertial measurement units of different head-mounted display devices, it is not necessary to repeatedly calculate the intrinsic and extrinsic parameters of the camera and acquire image sequence pairs. Only one calculation of the parameter parameters of the binocular camera and acquisition of image sequence pairs are needed before calibrating the inertial measurement units of the head-mounted display devices. This improves the calibration efficiency of the inertial measurement units of multiple head-mounted display devices under test, simplifies the calibration process, shortens the calibration time, and reduces the amount of computation.

[0058] Exemplary methods

[0059] Figure 2 This is a schematic flowchart illustrating a method for calibrating an inertial measurement unit according to one embodiment of this disclosure. This embodiment can be applied to electronic devices, such as... Figure 2 As shown, it includes the following steps:

[0060] S20: During the process of the robotic arm moving from the initial position to the final position according to the preset motion trajectory, acquire the image pair sequence collected by the binocular camera on the robotic arm and the calibration plate.

[0061] The processor can send motion commands to the drive system of the robotic arm. These motion commands can include data parameters indicating the initial position, preset motion trajectory, and ending position of the robotic arm.

[0062] When the drive system receives a motion command, it can first check whether the current position of the robotic arm is in the initial position. For example, it can check whether the coordinates of the robotic arm at the current position are consistent with the coordinates of the initial position. If they are inconsistent, the position of the robotic arm is adjusted so that the robotic arm is in the initial position before moving according to the preset motion trajectory.

[0063] Once the robotic arm is in its initial position, the drive system controls it to move from the initial position to the final position along a preset trajectory. During the movement of the robotic arm, the system controls the binocular camera to acquire images of the calibration board. The binocular camera acquires images synchronously at the same frequency, thus obtaining an image pair sequence.

[0064] In one example of this disclosure, time t0 is taken as the start time of the robotic arm's movement according to the preset motion trajectory, and the image pair acquired by the binocular camera at time t0 from the calibration plate is {P}. 0A P 0B}, that is, the image acquired by one of the binocular cameras from the calibration board is P. 0A The image captured by the other camera on the calibration board is P. 0B .

[0065] t n The moment t is taken as the moment when the robotic arm terminates its movement according to the preset trajectory. n At any given moment, the robotic arm is in the terminated position, and the image pair acquired by the binocular camera from the calibration plate is {P}. nA P nB}

[0066] During the movement of the robotic arm, the sequence of image pairs synchronously acquired by the binocular camera from the calibration plate can be {P}. 0A P 0B}、{P 1A P 1B}、{P 2A P 2B}、…、{P (n -2)A, P (n -2)B}、{P (n -1)A, P (n -1)B}、{P nA P nB}

[0067] S40: Based on the image pair sequence, determine the parameter data of the stereo cameras. The parameter data includes the intrinsic parameters of each stereo camera and the extrinsic parameters of the stereo cameras.

[0068] Camera intrinsics describe the camera's internal parameters, including principal point position and focal length. For the calibration of the intrinsics of each binocular camera, corner information of the calibration board can be extracted from the sequence of image pairs acquired from the calibration board. Initial values ​​for the principal point coordinates and focal length can be estimated: the initial value of the principal point coordinates can be set to 1 / 2 of the image size; for the focal length, since parallel lines in the real world intersect at two points after image projection, a circle can be fitted onto the image for each point in each row of the calibration board, and the distance between the intersection points of the two circles divided by π gives the initial focal length value; using the calibration board as a fixed reference coordinate system, since the dimensions of the calibration board can be obtained in advance, the initial values ​​for each corner of the calibration board can be estimated. The 3D coordinates of the point in the reference coordinate system are known. In addition, the 2D coordinates of each corner point on the calibration board in the image coordinate system can be obtained. By using the correspondence between the 3D and 2D coordinates of each corner point, the pose of the camera in each frame can be solved and used as a variable for subsequent optimization. Based on the pose of the camera in each frame, the 3D points in the fixed reference coordinate system are transformed to the camera coordinate system. Using the camera's projection model, the predicted projection position of the 3D corner points of the calibration board on the image plane can be obtained. The pose and camera intrinsic parameters of each frame are optimized to reduce reprojection error and thus obtain the camera intrinsic parameters.

[0069] The extrinsic parameters of a stereo camera describe the relative positional relationship between the two cameras, including rotation vectors representing the rotational relationship between the two camera coordinate systems and translation vectors representing the translational relationship between the two camera coordinate systems. For the calibration of the stereo camera's extrinsic parameters, single-camera calibration can be performed on each camera individually to obtain the intrinsic parameter matrix K, absolute extrinsic parameters R (rotation matrix), t (translation matrix), and distortion coefficients d for each camera. The relative extrinsic parameters of the cameras corresponding to each image pair are calculated, and the median value is taken as the initial value. Then, based on minimizing the reprojection error and nonlinear iterative optimization, the optimal solution is obtained, thus yielding the stereo camera's extrinsic parameters.

[0070] S60: Fix the first inertial measurement unit to be tested on the robotic arm, and during the process of the robotic arm moving from the initial position to the end position according to the preset motion trajectory, acquire the first inertial data sequence collected by the first inertial measurement unit to be tested.

[0071] Under normal circumstances, it is assumed that the repeatability of the robotic arm can meet the calibration requirements, and that the parameter data of the binocular camera and the pose of the calibration plate remain unchanged. Then, after obtaining the parameter data of the binocular camera 3, the robotic arm 1 can be controlled to move back to the initial position, and the calibration steps of the inertial measurement unit of the head-mounted display device can be started: the first head-mounted display device is fixed on the fixture 2, wherein the first head-mounted display device has a built-in first inertial measurement unit to be measured, the robotic arm 1 is controlled to move from the initial position to the termination position according to the preset motion trajectory, and the first inertial data sequence collected by the first inertial unit to be measured is acquired.

[0072] S80: Based on the parameter data and the first inertial data sequence, calibrate the first inertial measurement unit to be tested.

[0073] The first inertial data sequence includes the acceleration and angular velocity of the first inertial unit under test at different acquisition times. The discrete state can be described as a continuous state using Bézier curves. The Bézier curve is divided into multiple segments, each using a different polynomial, and the polynomial coefficients are calculated recursively. Integrating the acceleration and angular velocity of the continuous inertial data sequence yields the velocity, position, and rotation.

[0074] The calibration of the first inertial measurement unit (IMU) under test includes the external parameter calibration of the binocular camera and the IMU. The calibration process may include: roughly estimating the time delay between the binocular camera and the IMU; obtaining the initial rotation between the binocular camera and the IMU, as well as the initial values ​​of the acceleration bias and gyroscope bias of the IMU; and optimizing all corner reprojection errors, accelerometer and gyroscope measurement errors of the IMU, and bias random walk noise. The correlation between the angular velocity-time curves of the binocular camera and the IMU at different times can be used to roughly estimate the time delay between them. An optimization problem can be constructed using the angular velocity measurement relationship between the binocular camera and the IMU to obtain the initial rotation between them, as well as the initial values ​​of the acceleration bias and gyroscope bias of the IMU. It is possible to construct a joint optimization of error terms including the reprojection error of all corner points of the calibration board, the measurement errors of the accelerometer and gyroscope of the first inertial measurement unit under test, and the random walk noise of the bias. By adjusting all error terms through joint optimization, all observation errors can be minimized.

[0075] S100: Fix the second inertial measurement unit to be tested on the robotic arm. During the process of the robotic arm moving from the initial position to the final position according to the preset motion trajectory, acquire the second inertial data sequence collected by the second inertial measurement unit to be tested.

[0076] S120: Based on the parameter data and the second inertial data sequence, calibrate the second inertial measurement unit to be tested.

[0077] It should be noted that the implementation of steps S100 and S120 is similar to that of steps S60 and S80, except that the first inertial measurement unit to be measured is replaced with the second inertial measurement unit to be measured.

[0078] In this embodiment, the robotic arm is controlled to move from the initial position to the final position multiple times according to a preset motion trajectory. When the repeatability of the robotic arm is high and the parameter data of the binocular camera and the pose of the calibration plate remain unchanged, multiple inertial measurement units under test can be quickly calibrated based on a set of parameter data of the binocular camera and the acquired image sequence pairs, combined with the inertial data sequence acquired by the inertial measurement unit under test. There is no need to repeatedly calculate the intrinsic and extrinsic parameters of the camera and acquire image sequence pairs, which improves the calibration efficiency of multiple inertial measurement units of head-mounted display devices under test, simplifies the calibration process, shortens the calibration time, and reduces the amount of computation.

[0079] Figure 3 This is a schematic diagram of the process for determining baseline data in one embodiment of this disclosure. Figure 3 As shown, in one embodiment of this disclosure, before step S20, the following may be included:

[0080] S02: During the process of the robotic arm moving from the initial position to the final position according to the preset motion trajectory, acquire the reference image pair sequence collected by the binocular camera on the calibration plate.

[0081] S04: Determine the reference data based on the reference image pair sequence. The reference data includes: the reference intrinsic parameters of each stereo camera, and the reference extrinsic parameters of the stereo cameras.

[0082] It should be noted that steps S02 and S04 are performed during the initial deployment of the calibration system. The implementation methods are similar to those of steps S2 and S4, except that the reference data of the binocular camera is obtained through steps S02 and S04, which serves as the comparison benchmark for subsequent judgments.

[0083] Figure 4 This is a schematic diagram illustrating the process of determining whether parameter data meets expectations and making corresponding adjustments based on the determination result in one embodiment of this disclosure. Figure 4 As shown, after step S40 is executed and before step S60 is executed, the following may also be included:

[0084] S50: Determine whether the parameter data meets expectations based on the baseline data and parameter data. If the parameter data meets expectations, proceed to step S60.

[0085] In this embodiment, by comparing the baseline data and the parameter data, it is determined whether the parameter data of the binocular camera has changed, thereby determining whether the parameter data meets expectations. When it is determined that the parameter data meets expectations, it is assumed that during the process of the robotic arm moving from the initial position to the terminal position multiple times according to the preset motion trajectory, the intrinsic and extrinsic parameters of the binocular camera remain basically unchanged. At this time, based on a set of parameter data from the binocular camera and the sequence of acquired image pairs, multiple inertial measurement units under test are calibrated. This simplifies the calibration process, shortens the calibration time, and reduces the amount of computation, while ensuring the accuracy of the calibration results for multiple inertial measurement units under test.

[0086] In one embodiment of this disclosure, if the intrinsic and extrinsic parameters of the binocular camera change significantly during multiple movements of the robotic arm, i.e., the parameter data is determined not to meet expectations, the accuracy of the calibration results cannot be guaranteed when calibrating multiple inertial measurement units under test based on a set of parameter data from the binocular camera. In one embodiment of this disclosure, in step S50, determining whether the parameter data meets expectations based on the reference data and the parameter data can specifically include: if the intrinsic parameter deviation between each binocular camera and its respective reference intrinsic parameter is less than a preset intrinsic parameter deviation threshold, and the extrinsic parameter deviation between the binocular camera and its reference extrinsic parameter is less than a preset first extrinsic parameter deviation threshold, then the parameter data is determined to meet expectations.

[0087] In this embodiment, when the robotic arm moves from the initial position to the final position multiple times according to the preset motion trajectory, the accuracy of the calibration results of multiple inertial measurement units under test can be guaranteed when the deviation between the intrinsic and extrinsic parameters of the binocular camera is less than the corresponding deviation threshold.

[0088] In one embodiment of this disclosure, the parameter data of the binocular camera may further include at least one of the following: the extrinsic parameter deviation between the first camera and the calibration board in the binocular camera, and the trajectory deviation of the first camera. Accordingly, in step S50, the condition for determining that the parameter data meets the expectation further includes at least one of the following conditions: the extrinsic parameter deviation between the first camera and the calibration board is less than a preset second extrinsic parameter deviation threshold, and the trajectory deviation of the first camera is less than a trajectory deviation threshold.

[0089] In this embodiment, during the process of the robotic arm repeatedly moving from the initial position to the final position according to a preset motion trajectory, if the deviations between the intrinsic and extrinsic parameters of the binocular camera are both less than the corresponding deviation thresholds, it can be further determined whether at least one of the extrinsic parameter deviation between the first camera and the calibration plate and the trajectory deviation of the first camera is less than the corresponding deviation threshold. When the extrinsic parameter deviation between the first camera and the calibration plate is less than the corresponding deviation threshold, it is considered that the relative pose of the first camera and the calibration plate is maintained; when the trajectory deviation of the first camera is less than the corresponding deviation threshold, it is considered that the repeatability accuracy of the robotic arm can meet the calibration requirements. This can further ensure the accuracy of the calibration results of multiple inertial measurement units under test.

[0090] If the parameter data is determined not to be as expected, then step S52 is executed: at least one of the binocular camera, calibration plate, and robotic arm is adjusted. Specifically, this may include:

[0091] If the parameter data is determined not to meet expectations, at least one of the following adjustments shall be made:

[0092] If at least one of the intrinsic parameter deviations of the two cameras is greater than or equal to a preset intrinsic parameter deviation threshold, then the intrinsic parameters of the camera whose intrinsic parameter deviation is greater than or equal to the preset intrinsic parameter deviation threshold are adjusted.

[0093] If the extrinsic parameter deviation of the binocular camera is greater than or equal to the preset first extrinsic parameter deviation threshold, then the relative position and attitude of the binocular camera are adjusted.

[0094] If the extrinsic parameter deviation between the first camera and the calibration board is greater than or equal to the preset second extrinsic parameter deviation threshold, then the relative position and attitude of the first camera and the calibration board are adjusted.

[0095] If the trajectory deviation of the first camera is greater than or equal to the trajectory deviation threshold, the movement trajectory of the robotic arm is adjusted.

[0096] In this embodiment, when a certain deviation between the reference data and the parameter data exceeds the corresponding deviation threshold, the intrinsic parameters of the binocular camera, the extrinsic parameters between the binocular cameras, the extrinsic parameters between the first camera and the calibration plate, or the motion trajectory of the robotic arm can be adjusted so that the deviations of the intrinsic and extrinsic parameters of the binocular camera, the extrinsic parameters between the first camera and the calibration plate, and the motion trajectory of the robotic arm are all within the corresponding deviation range during multiple movements of the adjusted robotic arm, thereby ensuring the accuracy of the calibration results of multiple inertial measurement units under test.

[0097] In one embodiment of this disclosure, after step S52, the following may be included:

[0098] S54: Based on the reacquired image pair sequence, determine the adjusted parameter data of the stereo camera.

[0099] S56: Based on the baseline data and the adjusted parameter data, determine whether the adjusted parameter data meets expectations: If the adjusted parameter data meets expectations, proceed to step S60; if the adjusted parameter data does not meet expectations, proceed to step S52 again until the adjusted parameter data meets expectations.

[0100] In this embodiment, after adjusting at least one of the binocular camera, calibration plate, or robotic arm, it is detected whether the adjusted parameter data of the binocular camera meets expectations. If it still does not meet expectations, it is adjusted again until the adjusted parameter data of the binocular camera meets expectations, thereby further ensuring the accuracy of the calibration of multiple inertial measurement units under test.

[0101] In one embodiment of this disclosure, the reference image pair sequence includes a first reference image sequence acquired by a first camera, and the image pair sequence includes a first image sequence acquired by the first camera. The trajectory deviation of the first camera is obtained through the following steps:

[0102] Based on the first reference image sequence, a first relative motion trajectory of the first camera relative to the calibration board is obtained; based on the first image sequence, a second relative motion trajectory of the first camera relative to the calibration board is obtained; the first relative motion trajectory and the second relative motion trajectory are aligned on the time axis, for example, by means of fast Fourier transform; the root mean square error of the first relative motion trajectory and the second relative motion trajectory at the same time is calculated as the trajectory deviation of the first camera.

[0103] In this embodiment, trajectory analysis can be performed on the first reference image sequence and the first image sequence respectively to determine the first motion trajectory and the second motion trajectory of the first camera relative to the calibration plate. The trajectory deviation of the first camera can be effectively obtained by time axis alignment and mean square error calculation, so that the motion trajectory of the robotic arm can be adjusted according to the trajectory deviation of the first camera. In this way, the accuracy of the calibration results of multiple inertial measurement units under test can be ensured by reducing the trajectory deviation.

[0104] In one embodiment of this disclosure, the extrinsic parameter deviation between the first camera and the calibration plate is obtained by the following steps: determining the relative rotation and translation parameters of the first camera and the relative rotation and translation parameters of the calibration plate during the two movements of the binocular camera acquiring the reference pair image sequence and the image pair sequence, as the extrinsic parameter deviation between the first camera and the calibration plate.

[0105] In this embodiment, the relative rotation and translation parameters of the first camera and the calibration plate can be quickly obtained by analyzing and processing the image sequence and image pair sequence using a reference, which serves as the external parameter deviation between the first camera and the calibration plate.

[0106] Any of the methods for calibrating an inertial measurement unit provided in the embodiments of this disclosure can be executed by any suitable device with data processing capabilities, including but not limited to: terminal devices and servers. Alternatively, any of the methods for calibrating an inertial measurement unit provided in the embodiments of this disclosure can be executed by a processor, such as by a processor executing any of the methods for calibrating an inertial measurement unit mentioned in the embodiments of this disclosure by calling corresponding instructions stored in memory. Further details will not be elaborated below.

[0107] Exemplary device

[0108] Figure 5 This is a structural block diagram of a device for calibrating an inertial measurement unit according to one embodiment of this disclosure. Figure 5 As shown, the apparatus for calibrating an inertial measurement unit includes:

[0109] Image acquisition module 100 is used to acquire a sequence of image pairs acquired by the binocular camera on the robotic arm to the calibration plate during the process of the robotic arm moving from the initial position to the end position according to the preset motion trajectory.

[0110] The camera parameter determination module 200 is used to determine the parameter data of the stereo camera based on the image pair sequence, wherein the parameter data includes: the intrinsic parameters of each stereo camera and the extrinsic parameters of the stereo camera;

[0111] The inertial data acquisition module 300 is used to acquire a first inertial data sequence acquired by the first inertial measurement unit under test when the first inertial measurement unit under test is fixed on the robotic arm, during the process of the robotic arm moving from the initial position to the termination position according to the preset motion trajectory; the inertial data acquisition module 300 is also used to acquire a second inertial data sequence of the second inertial measurement unit under test when the second inertial measurement unit is fixed on the robotic arm, during the process of the robotic arm moving from the initial position to the termination position according to the preset motion trajectory;

[0112] The inertial measurement unit calibration module 400 is used to calibrate the first inertial measurement unit under test based on the parameter data and the first inertial data sequence; the inertial measurement unit calibration module is also used to calibrate the second inertial measurement unit under test based on the parameter data and the second inertial data sequence.

[0113] In one embodiment of this disclosure, the image acquisition module 100 is further configured to acquire a sequence of reference image pairs acquired by the binocular camera from the calibration plate during the process of the robotic arm moving from the initial position to the termination position according to the preset motion trajectory; the camera parameter determination module 200 is further configured to determine reference data based on the reference image pair sequence, wherein the reference data includes: the reference intrinsic parameters of each of the binocular cameras, and the reference extrinsic parameters of the binocular cameras; the inertial measurement unit calibration module 400 is further configured to determine whether the parameter data meets expectations based on the reference data and the parameter data, and when it is determined that the parameter data meets expectations, control the execution of fixing the first inertial measurement unit under test on the robotic arm, and acquire a first inertial data sequence acquired by the first inertial measurement unit under test during the process of the robotic arm moving from the initial position to the termination position according to the preset motion trajectory.

[0114] In one embodiment of this disclosure, the inertial measurement unit calibration module 400 is further configured to determine that the parameter data meets expectations if the intrinsic parameter deviation between each intrinsic parameter of the binocular camera and the reference intrinsic parameter of each binocular camera is less than a preset intrinsic parameter deviation threshold, and the extrinsic parameter deviation between the extrinsic parameter of the binocular camera and the reference extrinsic parameter of the binocular camera is less than a preset first extrinsic parameter deviation threshold.

[0115] In one embodiment of this disclosure, the parameter data further includes at least one of the extrinsic parameter deviation between the first camera in the binocular camera and the calibration board, and the trajectory deviation of the first camera; the condition for determining that the parameter data meets expectations also includes at least one of the following conditions: the extrinsic parameter deviation between the first camera and the calibration board is less than a preset second extrinsic parameter deviation threshold, and the trajectory deviation of the first camera is less than a trajectory deviation threshold.

[0116] In one embodiment of this disclosure, the apparatus for calibrating an inertial measurement unit further includes an adjustment module, which is configured to perform at least one of the following adjustments if it is determined that the parameter data does not meet expectations:

[0117] If at least one of the intrinsic parameter deviations of the binocular cameras is greater than or equal to the preset intrinsic parameter deviation threshold, then the intrinsic parameters of the camera whose intrinsic parameter deviation is greater than or equal to the preset intrinsic parameter deviation threshold are adjusted.

[0118] If the extrinsic parameter deviation of the binocular camera is greater than or equal to the preset first extrinsic parameter deviation threshold, then the relative position and attitude of the binocular camera are adjusted.

[0119] If the extrinsic parameter deviation between the first camera and the calibration board is greater than or equal to the preset second extrinsic parameter deviation threshold, then the relative position and attitude of the first camera and the calibration board are adjusted.

[0120] If the trajectory deviation of the first camera is greater than or equal to the trajectory deviation threshold, the movement trajectory of the robotic arm is adjusted.

[0121] In one embodiment of this disclosure, the image acquisition module 100 is further configured to control the robotic arm to move from the initial position to the termination position according to the preset motion trajectory, and acquire a sequence of image pairs re-acquired by the binocular camera on the calibration plate; the camera parameter determination module 200 is further configured to determine the adjusted parameter data of the binocular camera based on the re-acquired image pair sequence; the adjustment module is further configured to determine whether the adjusted parameter data meets expectations based on the reference data and the adjusted parameter data; if the adjusted parameter data meets expectations, an execution command is sent to the inertial data acquisition module 300 so that the inertial data acquisition module 300 executes the step of fixing the first inertial measurement unit under test on the robotic arm, and acquiring the inertial data acquired by the first inertial measurement unit under test during the process of the robotic arm moving from the initial position to the termination position according to the preset motion trajectory; the adjustment module is further configured to perform the adjustment step again if the adjusted parameter data does not meet expectations, until the adjusted parameter data meets expectations.

[0122] In one embodiment of this disclosure, the reference image pair sequence includes a first reference image sequence acquired by the first camera, and the trajectory deviation of the first camera is obtained through the following steps:

[0123] Based on the first reference image sequence, the first relative motion trajectory of the first camera relative to the calibration plate is obtained;

[0124] Based on the first image sequence, the second relative motion trajectory of the first camera relative to the calibration plate is obtained;

[0125] Align the first relative motion trajectory and the second relative motion trajectory on the time axis;

[0126] The root mean square error of the first relative motion trajectory and the second relative motion trajectory at the same time is calculated as the trajectory deviation of the first camera.

[0127] In one embodiment of this disclosure, the extrinsic parameter deviation between the first camera and the calibration plate is obtained through the following steps:

[0128] The relative rotation and translation parameters of the first camera and the relative rotation and translation parameters of the calibration plate are determined as the extrinsic parameter deviation between the first camera and the calibration plate during the acquisition of the reference pair image sequence and the two movements of the image pair sequence by the binocular camera.

[0129] It should be noted that the specific implementation of the apparatus for calibrating an inertial measurement unit in this disclosure is similar to the specific implementation of the method for calibrating an inertial measurement unit in this disclosure. For details, please refer to the method for calibrating an inertial measurement unit section. To reduce redundancy, it will not be described in detail.

[0130] Furthermore, this disclosure also discloses a system for calibrating an inertial measurement unit, comprising:

[0131] A robotic arm system, including a robotic arm and a drive system for driving the movement of the robotic arm;

[0132] A fixture is mounted on the robotic arm, and the fixture is used to place the binocular camera and the inertial measurement unit to be tested;

[0133] And the apparatus for calibrating the inertial measurement unit according to the above embodiments.

[0134] Exemplary electronic devices

[0135] Below, for reference Figure 6 To describe an electronic device according to embodiments of this disclosure. For example... Figure 6 As shown, the electronic device includes one or more processors 10 and memory 20.

[0136] The processor 10 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0137] The memory 20 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 10 may execute the program instructions to implement the methods for calibrating an inertial measurement unit according to the various embodiments of this disclosure described above, and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0138] In one example, the electronic device may also include an input device 30 and an output device 40, these components being interconnected via a bus system and / or other forms of connection mechanism (not shown). The input device 30 may be, for example, a keyboard, a mouse, etc. The output device 40 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, etc.

[0139] Of course, for the sake of simplicity, Figure 6 Only some of the components of the electronic device relevant to this disclosure are shown, omitting components such as buses, input / output interfaces, etc. In addition, the electronic device may include any other suitable components depending on the specific application.

[0140] Exemplary computer-readable storage media

[0141] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0142] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0143] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For system embodiments, since they largely correspond to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0144] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0145] The methods and apparatus of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0146] It should also be noted that in the apparatus, devices, and methods of this disclosure, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions to this disclosure.

[0147] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0148] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A method for calibrating an inertial measurement unit, comprising: During the process of the robotic arm moving from the initial position to the final position according to the preset motion trajectory, the sequence of image pairs acquired by the binocular camera on the robotic arm is obtained from the calibration plate. Based on the image pair sequence, the parameter data of the stereo camera is determined, wherein the parameter data includes: the intrinsic parameters of each stereo camera and the extrinsic parameters of the stereo camera; The first inertial measurement unit to be tested is fixed on the robotic arm. During the process of the robotic arm moving from the initial position to the final position according to the preset motion trajectory, the first inertial data sequence collected by the first inertial measurement unit to be tested is acquired. Based on the parameter data and the first inertial data sequence, the first inertial measurement unit under test is calibrated; The second inertial measurement unit to be tested is fixed on the robotic arm. During the process of the robotic arm moving from the initial position to the terminal position according to the preset motion trajectory, the second inertial data sequence collected by the second inertial measurement unit to be tested is acquired. Based on the parameter data and the second inertial data sequence, the second inertial measurement unit under test is calibrated; The calibration process includes: obtaining the initial rotation between the binocular camera and the inertial measurement unit under test, as well as the initial values ​​of the accelerometer bias and the gyroscope bias of the inertial measurement unit under test; and optimizing the corner reprojection error, the accelerometer and gyroscope measurement errors of the inertial measurement unit under test, and the bias random walk noise.

2. The method according to claim 1, wherein, Before the process of the robotic arm moving from its initial position to its final position according to a preset trajectory, and before acquiring a sequence of image pairs from the calibration plate using the binocular camera on the robotic arm, the process further includes: During the process of the robotic arm moving from the initial position to the termination position according to the preset motion trajectory, a sequence of reference image pairs acquired by the binocular camera from the calibration plate is obtained; Based on the reference image pair sequence, reference data is determined, wherein the reference data includes: the reference intrinsic parameters of each of the stereo cameras, and the reference extrinsic parameters of the stereo cameras; Based on the reference data and the parameter data, it is determined whether the parameter data meets expectations. When it is determined that the parameter data meets expectations, the steps of fixing the first inertial measurement unit to be tested on the robotic arm and acquiring the first inertial data sequence collected by the first inertial measurement unit to be tested during the process of the robotic arm moving from the initial position to the terminal position according to the preset motion trajectory are executed.

3. The method according to claim 2, wherein, The step of determining whether the parameter data meets expectations based on the benchmark data and the parameter data includes: If the intrinsic parameter deviation between each intrinsic parameter of the stereo camera and the reference intrinsic parameter of the stereo camera is less than a preset intrinsic parameter deviation threshold, and the extrinsic parameter deviation between the extrinsic parameter of the stereo camera and the reference extrinsic parameter of the stereo camera is less than a preset first extrinsic parameter deviation threshold, then the parameter data is determined to meet expectations.

4. The method according to claim 3, wherein, The parameter data also includes at least one of the extrinsic parameter deviation between the first camera in the binocular camera and the calibration plate, and the trajectory deviation of the first camera; The conditions for determining that the parameter data meets expectations also include at least one of the following conditions: the external parameter deviation between the first camera and the calibration board is less than a preset second external parameter deviation threshold, and the trajectory deviation of the first camera is less than the trajectory deviation threshold.

5. The method according to claim 4, wherein, After determining whether the parameter data meets expectations based on the benchmark data and the parameter data, the method further includes: if it is determined that the parameter data does not meet expectations, then performing at least one of the following adjustments: If at least one of the intrinsic parameter deviations of the binocular cameras is greater than or equal to the preset intrinsic parameter deviation threshold, then the intrinsic parameters of the camera whose intrinsic parameter deviation is greater than or equal to the preset intrinsic parameter deviation threshold are adjusted. If the extrinsic parameter deviation of the binocular camera is greater than or equal to the preset first extrinsic parameter deviation threshold, then the relative position and attitude of the binocular camera are adjusted. If the extrinsic parameter deviation between the first camera and the calibration board is greater than or equal to the preset second extrinsic parameter deviation threshold, then the relative position and attitude of the first camera and the calibration board are adjusted. If the trajectory deviation of the first camera is greater than or equal to the trajectory deviation threshold, the movement trajectory of the robotic arm is adjusted.

6. The method according to claim 5, wherein, After making the aforementioned adjustments, it also includes: The robotic arm is controlled to move from the initial position to the final position according to the preset motion trajectory, and the image pair sequence re-acquired by the binocular camera on the calibration plate is acquired. Based on the reacquired image pair sequence, the adjusted parameter data of the binocular camera is determined; Based on the baseline data and the adjusted parameter data, it is determined whether the adjusted parameter data meets expectations; If the adjusted parameter data is determined to meet expectations, then the steps of fixing the first inertial measurement unit to be tested on the robotic arm and acquiring the inertial data collected by the first inertial measurement unit to be tested during the process of the robotic arm moving from the initial position to the terminal position according to the preset motion trajectory are executed. If it is determined that the adjusted parameter data does not meet expectations, the adjustment process is repeated until the adjusted parameter data meets expectations.

7. The method according to claim 4, wherein, The reference image pair sequence includes a first reference image sequence acquired by the first camera, and the image pair sequence includes a first image sequence acquired by the first camera. The trajectory deviation of the first camera is obtained through the following steps: Based on the first reference image sequence, the first relative motion trajectory of the first camera relative to the calibration plate is obtained; Based on the first image sequence, the second relative motion trajectory of the first camera relative to the calibration plate is obtained; Align the first relative motion trajectory and the second relative motion trajectory on the time axis; The root mean square error of the first relative motion trajectory and the second relative motion trajectory at the same time is calculated as the trajectory deviation of the first camera.

8. The method according to claim 4, wherein, The extrinsic parameter deviation between the first camera and the calibration plate is obtained through the following steps: The relative rotation and translation parameters of the first camera and the relative rotation and translation parameters of the calibration plate are determined as the extrinsic parameter deviation between the first camera and the calibration plate during the acquisition of the reference pair image sequence and the two movements of the image pair sequence by the binocular camera.

9. An apparatus for calibrating an inertial measurement unit, comprising: The image acquisition module is used to acquire a sequence of image pairs acquired by the binocular camera on the robotic arm to the calibration plate during the process of the robotic arm moving from the initial position to the final position according to the preset motion trajectory. A camera parameter determination module is used to determine the parameter data of the stereo camera based on the image pair sequence, wherein the parameter data includes: the intrinsic parameters of each stereo camera and the extrinsic parameters of the stereo camera; An inertial data acquisition module is used to acquire a first inertial data sequence acquired by the first inertial measurement unit under test when the first inertial measurement unit under test is fixed on the robotic arm, and during the process of the robotic arm moving from the initial position to the terminal position according to the preset motion trajectory; the inertial data acquisition module is also used to acquire a second inertial data sequence of the second inertial measurement unit under test when the second inertial measurement unit under test is fixed on the robotic arm, and during the process of the robotic arm moving from the initial position to the terminal position according to the preset motion trajectory; An inertial measurement unit calibration module is used to calibrate the first inertial measurement unit under test based on the parameter data and the first inertial data sequence; the inertial measurement unit calibration module is also used to calibrate the second inertial measurement unit under test based on the parameter data and the second inertial data sequence. The calibration process includes: obtaining the initial rotation between the binocular camera and the inertial measurement unit under test, as well as the initial values ​​of the accelerometer bias and the gyroscope bias of the inertial measurement unit under test; and optimizing the corner reprojection error, the accelerometer and gyroscope measurement errors of the inertial measurement unit under test, and the bias random walk noise.

10. A system for calibrating an inertial measurement unit, comprising: A robotic arm system, including a robotic arm and a drive system for driving the movement of the robotic arm; A fixture is mounted on the robotic arm, and the fixture is used to place the binocular camera and the inertial measurement unit to be tested; And the apparatus for calibrating an inertial measurement unit as described in claim 9.

11. An electronic device, the electronic device comprising: processor; Memory used to store the processor's executable instructions; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the method described in any one of claims 1-8.

12. A computer-readable storage medium storing a computer program for performing the method according to any one of claims 1-8.

Images