Imaging Sensor Inertial Measurement via Feature Tracking
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Solution Overview
Problem
Existing inertial navigation systems face issues with heavy weight, high cost, and energy consumption due to the use of high-performance inertial measurement units, which also reduce payload capacity and increase energy consumption in vehicles like unmanned aerial vehicles.
Innovation Solution
A method and system utilizing at least one imaging sensor to capture consecutive images, process them to identify features, and determine changes in position and orientation, eliminating the need for heavy and expensive high-performance inertial measurement units by using simple and low-cost image processing units.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If high-performance inertial measurement units are used to achieve accurate inertial measurement, then measurement precision is improved, but weight increases significantly
Solution Approach 1:
The patent replaces the mechanical inertial measurement system (accelerometers, gyroscopes) with an optical system consisting of imaging sensors that capture images of the environment. By processing sequences of images and tracking feature points, the system determines vehicle position and orientation changes without relying on mechanical sensors, thereby eliminating the weight penalty of high-performance inertial measurement units.
2Reliability
If high-performance inertial measurement units are used to overcome offset errors and scale factor errors, then measurement reliability is improved, but cost increases
Solution Approach 1:
The patent uses imaging sensors to capture visual copies of the environment, which are then processed to extract position and orientation information. This visual copying approach replaces expensive inertial measurement units, achieving reliable navigation through image sequence analysis and feature tracking rather than through costly mechanical sensing hardware.
3Productivity
If high-performance inertial measurement units are deployed to reduce errors during vehicle operation, then productivity is improved, but energy consumption increases
Solution Approach 1:
The patent employs periodic image capture at discrete time intervals rather than continuous inertial measurement. The imaging sensor captures images at specific moments, and processing occurs between captures, creating a periodic measurement cycle that reduces energy consumption compared to the continuous operation of high-performance inertial measurement units while maintaining navigation accuracy.
Data Source
AI summary
A method and a system for inertial measurement. The method includes controlling at least one imaging sensor to capture at least two consecutive images, processing the at least two consecutive images to identify at least one feature therein and determining at least one parameter associated with the at least one feature, and determining a change in a position and an orientation of the at least one imaging sensor, based upon the at least one parameter associated with the at least one feature. The at least one parameter includes at least one of: a presence or absence of the at least one feature in at least one of the at least two consecutive images, respective pixel locations of the at least one feature in the at least two consecutive images, and/or three-dimensional locations of the at least one feature with respect to the at least one imaging sensor.