CN105606127A - Calibration method for relative attitude of binocular stereo camera and inertial measurement unit - Google Patents
Calibration method for relative attitude of binocular stereo camera and inertial measurement unit Download PDFInfo
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- CN105606127A CN105606127A CN201610012754.8A CN201610012754A CN105606127A CN 105606127 A CN105606127 A CN 105606127A CN 201610012754 A CN201610012754 A CN 201610012754A CN 105606127 A CN105606127 A CN 105606127A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention discloses a simple and feasible calibration method for the relative attitude of a binocular stereo camera and an inertial measurement unit on the basis of the absolute gravity direction. The method comprises the steps that a gravity direction vector serves as a reference vector, expressions of the gravity direction vector under a camera coordinate system and under an IMU coordinate system are solved respectively to obtain the expressions of the same vector under the two different coordinate systems, and then the attitude change relationship between the two coordinate systems can be solved; finally, precision verification is performed through reprojection errors, and application of the calibration method in a visual odometer is supplied. Experiments show that the relative attitude between the camera and the IMU can be accurately solved through the method. The method can be used for assisting in vision positioning of mobile robots and spherical robots.
Description
Technical field:
The present invention relates to the scaling method of the relative attitude of binocular stereo vision and Inertial Measurement Unit, the method can accessorial visual location, for vision sensor and IMU information fusion provide necessary condition.
Background technology:
In the fields such as ball shape robot, Navigation of Pilotless Aircraft, motion-captured and augmented reality, often camera and Inertial Measurement Unit are bundled in a moving object, by the fusion to both information, determine a more accurate pose. The mode that binocular stereo vision simulating human eyes are processed scenery positions spatial point, can solve well nonlinearity erron, is one of them important research direction. But only rely on visual information to realize the functions such as the autonomous location of robot, there is certain defect, if traditional visual odometry is as location coordinate using the initial coordinate of camera, in the time that camera installation is not parallel to ground, can cause locating in vertical direction inaccurate, can use IMU information, provide overall reference frame, make positioning result more accurate. Traditional camera and Inertial Measurement Unit scaling method have following some:
(1) Mirzaei and Roumeliotis have proposed a kind ofly to use the method that extended Kalman filter is asked for the relative pose between video camera-IMU need to use specific scaling board, and when system initial error and noise are when larger, the precision of result of calculation is lower.
(2) Kelly and Sukhatme have proposed a kind of sensor pose scaling method based on Unscented kalman filtering device, do not need specific scaling board, but acceleration of gravity has certain influence to stated accuracy, in the time that the acceleration of gravity under earth coordinates is estimated, the degree of accuracy of model is limited, therefore stated accuracy is had to certain influence.
(3) the use high accuracy 3D laser scanner such as Johnson is auxiliary asks for video camera-IMU relative pose relation, but laser scanner is generally more expensive.
(4) Lang and Pinz, according to hand and eye calibrating equation, has proposed a kind of limited nonlinear optimization algorithm, can be used for the rotation angle changing [5] between computing camera and IMU. In the method, suppose that video camera and IMU position are very close, neglected relative position relation between the two, but this hypothesis is invalid, the result of Data Fusion of Sensor is had a certain impact.
(5) Lobo and Dias use two completely independently position relationship and attitude relations between step calibrating camera and IMU. IMU is fixed on a rotatable platform, and the motion putting rules into practice, draws the position relationship between video camera and IMU by the method for hand and eye calibrating. The method need to be used weight and turntable, and the precision of apparatus installation directly affects calibration result.
How to allow and obtain the easy relative attitude relation of asking for accurately camera coordinates system and IMU coordinate system to assist binocular stereo vision location to become the new problem that applicant is paid close attention to and studied.
Summary of the invention:
The object of the invention is to solve the problem existing in existing visual odometry, propose a kind of binocular solid camera and IMU relative attitude scaling method. Calibration system is by support, weight, fine rule, binocular solid camera and IMU composition. IMU and camera are fixed together, and two sensors is in relatively static state, as shown in Figure 1. Technical scheme of the present invention comprises the following steps:
1: with the binocular camera of having demarcated, carry out left and right image continuous acquisition. Obtain in left image and right image the linear equation of fine rule.
2: according to binocular range measurement principle, recording the expression of fine rule under camera coordinates system, is the gravity direction vector under machine coordinate system after unit.
3: under inactive state, the measured acceleration of Inertial Measurement Unit is gravity and adds and hasten, and just obtains the expression of Inertial Measurement Unit under IMU after unit.
4: make camera and IMU be connected unit with different attitudes, be still in fine rule front, gather several groups of data more, repeating step 2 and step 3.
5: calculate the attitude relation between camera coordinates system and IMU coordinate system.
6: time synchronized, because IMU frequency acquisition is higher than binocular solid camera, therefore need time synchronized.
The invention has the advantages that:
1) the present invention determines absolute gravity direction by fine rule, has reduced the error of bringing because gravity direction is inaccurate.
2) solve in rotation hypercomplex number process, used RANSIC algorithm, remove the larger experimental data of noise, increased the robustness of system.
3) fully use the binocular solid camera of having demarcated can directly record some advantage of the three-dimensional coordinate under camera coordinates system of space herein, determined more accurately the absolute gravity direction under camera coordinate system.
Brief description of the drawings:
Fig. 1 is camera-gyroscope calibration system schematic diagram
Fig. 2 is binocular range measurement principle schematic diagram
Fig. 3 is each coordinate system defining in the present invention
The lower gravity direction vector representation of Fig. 4 camera coordinates system
Detailed description of the invention:
Below in conjunction with Figure of description, the inventive method is elaborated:
Step 1: binocular camera is demarcated, obtained camera inside and outside parameter, comprising: focal distance f, length of base b, picture centre location of pixels u0，v0, the correction matrix of entire image etc., the Intrinsic Matrix of camera:
Step 2: open binocular camera, carry out left and right image continuous acquisition, utilize camera parameter that step 1 obtains to correct image.
Step 3: obtain in left image and right image the linear equation of fine rule.
Step 3-1: can use Hough transformation or manually choose the method for fine rule end points, obtain linear equation, obtain two points of pixel coordinate (u1l, v1l) and point (u2l, v2l) of fine rule end points, can solve parallax d=xl-xrUse solid geometry principle to try to achieve the D coordinates value that pixel is corresponding, its computing formula is:
Step 3-2: by under camera coordinates system, filament direction vector unit, just obtains the expression of the lower gravity direction vector of camera coordinates system.
Step 4: the acceleration a that the accelerometer of Inertial Measurement Unit records is conventionally by gravity vector g and system self-acceleration abTwo parts composition: a=-g+ab. At IMU, static or uniform motion in the situation that, the acceleration recording is acceleration of gravity, by after the measured acceleration information unitization of IMU, obtains the expression of gravity direction vector under IMU coordinate system. Recording acceleration of gravity unitization formula is:
Step 5: repeating step two and step 3, gather several groups of data more, improve the robustness of system.
Step 6: resolve the rotation hypercomplex number between IMU coordinate system and camera coordinates system, supposeIgiBe the gravity direction that records for the i time unit vector under IMU coordinate system,CgiIt is the gravity direction that records for the i time unit vector under camera coordinates system. Now suppose hypercomplex numberRepresent from I} be tied to the pose conversion of C} system, so, haveAccording to asking in existing document, rotation hypercomplex number method is known: can makeObtain peaked rotation hypercomplex numberBe required.
Above formula can be written as:
OrderIgi＝(Ixi Iyi Izi)，cgi＝(cxi cyi czi) establish:
Bring formula (6) and (7) into formula (5), have:
Desired unit four-tuple namely makesThe solution of setting up, wherein:OrderN is as follows:
N is symmetrical matrix, and desired hypercomplex number is the eigenvalue of maximum λ of NmaxCorresponding characteristic vector.
Step 7: repeating step 6, carry out repeatedly iteration, record the intra-office feature obtaining in iteration each time and count, find out intra-office feature count once maximum, as the rotation hypercomplex number between picture polar coordinate system and IMU coordinate system.
Step 8: because the relative stereoscopic camera of IMU sample frequency is very fast, therefore IMU return information can not directly use, the present invention adopts a kind of easier method, with system time as a reference, record the timestamp that the timestamp of every picture group sheet and IMU return to every group of data, find the IMU data of time difference minimum corresponding thereto according to the timestamp of every picture group sheet. Because the time is linear increasing, at IMU, prior to collected by camera data in the situation that, every picture group sheet can both find corresponding with it IMU data in theory.
Claims (4)
1. binocular solid camera and an Inertial Measurement Unit relative attitude scaling method, is characterized in that, comprises the following steps:
Step 1: binocular camera and IMU are fixed together, binocular camera is demarcated.
Step 2: by binocular camera and IMU static being placed on before fine rule that be connected, open camera and IMU, gather image and IMU simultaneouslyData.
Step 3: according to binocular range measurement principle, recording the expression of fine rule under camera coordinates system, is the weight under machine coordinate system after unitForce direction vector.
Step 4: under inactive state, the measured acceleration of Inertial Measurement Unit is gravity and adds and hasten, and just obtains inertia after unitThe expression of measuring unit under IMU.
Step 4: make camera and IMU be connected unit with different attitudes, be still in fine rule front, gather several groups of data more, repeat stepRapid two, step 3 and step 4.
Step 5: calculate the attitude relation between camera coordinates system and IMU coordinate system.
Step 6: time synchronized, there is system time, carry out time synchronized.
2. binocular solid camera claimed in claim 1 and Inertial Measurement Unit relative attitude scaling method, is characterized in that described stepIn two, adopt fine rule and this feature of gravity direction that heavily pendulum calculates under camera coordinates system to take full advantage of binocular range measurement principle, easyObtained the gravity direction under camera coordinates system.
3. binocular solid camera claimed in claim 1 and Inertial Measurement Unit relative attitude scaling method, is characterized in that at staticThe measured acceleration of part Inertial Measurement Unit is under IMU coordinate system.
4. binocular solid camera claimed in claim 1 and Inertial Measurement Unit relative attitude scaling method, is characterized in that, usesRANSIC algorithm, chooses three groups of data at every turn and calculates the rotation hypercomplex number between camera coordinates system and IMU coordinate system, to other phasesThe gravity direction vector recording under machine coordinate system, projects under IMU coordinate system, in statistics bureau, counts out, and after iteration N time, withIntra-office is counted out one group of maximum experimental data as input, the rotation hypercomplex number between computing camera coordinate system and IMU coordinate system.
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