A multi-sensor extrinsic parameter determination method and device, electronic equipment and medium

By calculating the state parameters of multiple sensors using the relative rotation value and static extrinsic parameters of the inertial measurement unit, the problem of time-varying extrinsic parameters of multiple sensors is solved, and the real-time accurate determination of extrinsic parameters of multiple sensors is achieved, which is suitable for robot localization and mapping.

CN117490722BActive Publication Date: 2026-06-02HUAZHONG UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HUAZHONG UNIV OF SCI & TECH
Filing Date
2023-11-08
Publication Date
2026-06-02

AI Technical Summary

Technical Problem

Existing technologies cannot accurately determine the time-varying extrinsic parameters between multiple sensors in real time, especially under the influence of external factors such as vibration, where the extrinsic parameters of multiple sensors are prone to change.

Method used

Rotation and translation measurements are performed based on the relative rotation value and static extrinsic parameters of the inertial measurement unit. State parameters are determined by combining inertial data, and time-varying extrinsic parameters between sensors are calculated using the state parameters and the extrinsic parameters of the inertial measurement unit.

Benefits of technology

It enables real-time and accurate determination of external parameters between multiple sensors under external factors such as vibration, and is suitable for robot localization and mapping tasks.

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Abstract

The application provides a multi-sensor external parameter determination method and device, electronic equipment and medium, and belongs to the technical field of computers. The method comprises the following steps: calculating a relative rotation value between a first inertial measurement unit and a second inertial measurement unit based on first inertial data and second inertial data; determining a first rotation measurement value and a first translation measurement value based on the relative rotation value and a static external parameter between the inertial measurement units; determining a first state parameter between the first inertial measurement unit and the second inertial measurement unit based on the first inertial data, the second inertial data, the first rotation measurement value and the first translation measurement value; and determining a time-varying external parameter between the sensors based on the first state parameter, a first inertial measurement unit external parameter and a second inertial measurement unit external parameter. The multi-sensor external parameter is indirectly calculated between multiple inertial measurement units, so that the external parameter between the multi-sensors can be determined in real time and accurately.
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