CN107607111A - Acceleration biases method of estimation and device, vision inertia odometer and its application - Google Patents
Acceleration biases method of estimation and device, vision inertia odometer and its application Download PDFInfo
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- CN107607111A CN107607111A CN201710800834.4A CN201710800834A CN107607111A CN 107607111 A CN107607111 A CN 107607111A CN 201710800834 A CN201710800834 A CN 201710800834A CN 107607111 A CN107607111 A CN 107607111A
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Abstract
The invention provides acceleration biasing method of estimation, the initial method of vision inertia odometer, acceleration biasing estimation unit, vision inertia odometer and mobile unit.Acceleration biasing method of estimation is used to estimate that the acceleration of the accelerometer of object to bias, and including：Obtain the gravitational vectors of scale coefficient and environment；Obtain the image captured by Rolling shutter camera；The movement velocity of Rolling shutter camera is obtained according to the roller shutter effect of Rolling shutter camera and captured image；And the acceleration biasing of accelerometer is obtained based on gravitational vectors and scale coefficient and movement velocity.
Description
Technical field
Present invention relates in general to automatic Pilot field, and more specifically, it is related to acceleration biasing method of estimation, regards
Feel initial method, acceleration biasing estimation unit, vision inertia odometer and the mobile unit of inertia odometer.
Background technology
With the development of science and technology automatic Pilot technology has also obtained very big development, especially using automatic Pilot technology
Automobile.At present, the high end configuration of many product vehicles all has Function for Automatic Pilot, also uses vision inertia more and more
Odometer (VIO).
For positioning for the object of automatic Pilot, real-time is an important condition, and visual odometry generally will
Do and weigh between calculation cost and accuracy.Vision inertia odometer can obtain more preferable effect under identical condition.
Meanwhile Costco Wholesale is also important index, compared to the laser radar of costliness, video camera and Inertial Measurement Unit (IMU) are
Pervasive sensor at a low price.
The use of vision inertia odometer needs to initialize, and the purpose of initialization is the biasing of On-line Estimation acceleration, gyro
Instrument biasing, gravity direction, yardstick and direction.After initializing successfully, vision inertia odometer could normal work.
But there are 2 points of deficiencies in the initial method of existing vision inertia odometer：One is poor robustness, not
It is big with scene operational effect difference, the second is the parameters precision of initialization estimation is not high, have a strong impact on the normal operation of system.
In addition, the estimation that acceleration biases in the initialization procedure of vision inertia odometer is also by existing vision inertia
The limitation of the initial method of odometer.
Accordingly, there exist the method for estimation biased for improved acceleration and/or the initialization side of vision inertia odometer
The needs of method.
The content of the invention
It is an object of the invention to for it is above-mentioned in the prior art the defects of and deficiency, there is provided novel and improved acceleration
Degree biasing method of estimation, the initial method of vision inertia odometer, acceleration biasing estimation unit, vision inertia odometer and
Mobile unit.
According to an aspect of the present invention, there is provided a kind of acceleration biases method of estimation, for estimating the acceleration of object
The acceleration biasing of meter, the object further comprise Rolling shutter camera and Inertial Measurement Unit, and the inertia measurement list
Member includes the accelerometer, and the acceleration biasing method of estimation includes：Obtain the gravitational vectors of environment and the yardstick system
Number；Obtain the image captured by the Rolling shutter camera；According to the roller shutter effect of the Rolling shutter camera and captured
Image obtains the movement velocity of the Rolling shutter camera；And based on the gravitational vectors and the scale coefficient and fortune
Dynamic speed obtains the acceleration biasing of the accelerometer.
In above-mentioned acceleration biases method of estimation, the gravitational vectors for obtaining environment and the scale coefficient specifically wrap
Include：Continuous three two field picture is extracted in the motion sequence of the image obtained from the Rolling shutter camera；It is fast using the roller shutter
Door camera and Inertial Measurement Unit independently estimate the pose of itself；With using the scale coefficient and gravitational vectors as variable, obtain
Must cause the minimum optimal scale coefficient of the error of itself pose of the Rolling shutter camera and the Inertial Measurement Unit and
Optimal gravitational vectors.
In above-mentioned acceleration biases method of estimation, the roller shutter effect according to the Rolling shutter camera and captured
Image obtain the movement velocity of the Rolling shutter camera and specifically include：The Rolling shutter camera is modeled；With with described
Pose, angular velocity of rotation and the movement velocity of Rolling shutter camera are variable, obtain the volume for make it that re-projection error is minimum
The movement velocity of curtain shutter camera.
It is described to be based on the gravitational vectors and the scale coefficient and motion in above-mentioned acceleration biases method of estimation
The acceleration biasing that speed obtains the accelerometer specifically includes：The motion sequence of the image obtained from the Rolling shutter camera
Continuous three two field picture is extracted in row；Independently estimate the position of itself using the Rolling shutter camera and Inertial Measurement Unit
Appearance；With variable is biased to the acceleration of the gravitational vectors, the scale coefficient and the accelerometer, caused
The minimum optimal scale coefficient of the error of itself pose of the Rolling shutter camera and the Inertial Measurement Unit, optimal gravity
The optimal acceleration biasing of vector.
In above-mentioned acceleration biases method of estimation, the gravity size that the gravitational vectors includes is defaulted as 9.8m/s2。
In above-mentioned acceleration biases method of estimation, the gravitational vectors for obtaining environment and the step of the scale coefficient
And with the image obtained captured by the Rolling shutter camera and according to the roller shutter effect of the Rolling shutter camera clapped
The step of movement velocity for the image acquisition Rolling shutter camera taken the photograph, is carried out parallel.
According to another aspect of the present invention, there is provided a kind of vision inertia odometer initial method, the vision inertia
Odometer includes Rolling shutter camera and Inertial Measurement Unit, and the Inertial Measurement Unit includes gyroscope and accelerometer,
The vision inertia odometer initial method includes：Estimate the offset of gyroscope of the gyroscope；To accelerate as described above
Degree biasing method of estimation estimates the acceleration biasing of the accelerometer, and obtains the gravitational vectors and the scale coefficient
And movement velocity；With, with estimate the offset of gyroscope, acceleration biasing, the gravitational vectors, the yardstick system
Number and the movement velocity initialize to the vision inertia odometer.
In above-mentioned inertia odometer initial method, further comprise：With the offset of gyroscope, described estimated
Acceleration biasing, the gravitational vectors, the scale coefficient and the movement velocity as initial value, construct using re-projection error as
The optimization of object function；With, by it is described optimization be iterated solution, with inclined to the offset of gyroscope, the acceleration
Put, the gravitational vectors, the scale coefficient and the movement velocity optimize.
In above-mentioned inertia odometer initial method, the step of the offset of gyroscope of the estimation gyroscope, institute
The step of stating the gravitational vectors for obtaining environment and the scale coefficient and the figure obtained captured by the Rolling shutter camera
Picture and the motion speed that the Rolling shutter camera is obtained according to the roller shutter effect of the Rolling shutter camera and captured image
At least two steps in the step of spending are carried out parallel.
In accordance with a further aspect of the present invention, there is provided a kind of acceleration biases estimation unit, for estimating the acceleration of object
The acceleration biasing of degree meter, the object further comprise Rolling shutter camera and Inertial Measurement Unit, and the inertia measurement
Unit includes the accelerometer, and the acceleration biasing estimation unit includes：Gravity and yardstick acquiring unit, for obtaining ring
The gravitational vectors in border and the scale coefficient；Image acquisition unit, for obtaining the image of the Rolling shutter camera shooting；Fortune
Dynamic speed acquiring unit, it is fast to obtain the roller shutter for the roller shutter effect according to the Rolling shutter camera and captured image
The movement velocity of door camera；And acceleration biasing estimation unit, for based on the gravitational vectors and the scale coefficient
The acceleration biasing of the accelerometer is obtained with movement velocity.
In above-mentioned acceleration biases estimation unit, gravity and the yardstick acquiring unit is specifically used for：From the roller shutter
Continuous three two field picture is extracted in the motion sequence for the image that shutter camera obtains；Surveyed using the Rolling shutter camera and inertia
Amount unit independently estimates the pose of itself；With, using the scale coefficient and gravitational vectors as variable, obtain cause the roller shutter
The minimum optimal scale coefficient of the error of itself pose of shutter camera and the Inertial Measurement Unit and optimal gravitational vectors.
In above-mentioned acceleration biases estimation unit, the movement velocity acquiring unit is specifically used for：It is fast to the roller shutter
Door camera modeling；With, using pose, angular velocity of rotation and the movement velocity of the Rolling shutter camera as variable, obtain cause weight
The movement velocity of the minimum Rolling shutter camera of projection error.
In above-mentioned acceleration biases estimation unit, the acceleration biasing acquiring unit is specifically used for：From the roller shutter
Continuous three two field picture is extracted in the motion sequence for the image that shutter camera obtains；Surveyed using the Rolling shutter camera and inertia
Amount unit independently estimates the pose of itself；With, with the gravitational vectors, the scale coefficient and the accelerometer plus
Speed is biased to variable, and acquisition causes the error minimum of itself pose of the Rolling shutter camera and the Inertial Measurement Unit
Optimal scale coefficient, optimal gravitational vectors and the biasing of optimal acceleration.
In above-mentioned acceleration biases estimation unit, the gravity size that the gravitational vectors includes is defaulted as 9.8m/s2。
In above-mentioned acceleration biases estimation unit, gravity and the yardstick acquiring unit and described image acquiring unit and
The combination synchronous operation of both movement velocity acquiring units.
According to another aspect of the invention, there is provided a kind of vision inertia odometer, including Rolling shutter camera and inertia
Measuring unit, and the Inertial Measurement Unit includes gyroscope and accelerometer, the vision inertia odometer further comprises：
Offset of gyroscope estimation unit, for estimating the offset of gyroscope of the gyroscope；Acceleration biasing estimation dress as described above
Put；With, initialization unit, for estimate the offset of gyroscope, acceleration biasing, the gravitational vectors, institute
Scale coefficient and the movement velocity is stated to initialize the vision inertia odometer.
In above-mentioned vision inertia odometer, further comprise：Alignment unit, for inclined with the gyroscope estimated
Put, acceleration biasing, the gravitational vectors, the scale coefficient and the movement velocity as initial value, construct to throw again
Shadow error is the optimization of object function；With by it is described optimization be iterated solutions, with to the offset of gyroscope, it is described add
Speed biasing, the gravitational vectors, the scale coefficient and the movement velocity optimize.
In above-mentioned vision inertia odometer, the offset of gyroscope estimation unit, the gravity and yardstick acquiring unit,
And at least two synchronous operations in the combination of both described image acquiring unit and the movement velocity acquiring unit.
In accordance with a further aspect of the present invention, there is provided a kind of mobile unit, including：Memory, can for storing computer
Execute instruction；With processor, for performing the computer executable instructions of the memory storage, to perform as described above
Acceleration biases method of estimation.
According to another aspect of the invention, there is provided a kind of mobile unit, including：Memory, can for storing computer
Execute instruction；With processor, for performing the computer executable instructions of the memory storage, to perform as described above
Vision inertia odometer initial method.
Acceleration provided by the invention biases method of estimation, the initial method of vision inertia odometer, acceleration biasing
Estimation unit, vision inertia odometer and mobile unit, pass through the movement velocity estimated acceleration meter based on Rolling shutter camera
Acceleration biasing, can improve acceleration biasing estimation precision and robustness.
Further, acceleration provided by the invention biasing method of estimation, vision inertia odometer initial method plus
Speed biasing estimation unit, vision inertia odometer and mobile unit, are estimated by the movement velocity based on Rolling shutter camera
The acceleration biasing of accelerometer, and then the initialization of the parameter of vision inertia odometer is carried out, initialization flow can be improved
In parameter Estimation precision and robustness.
Also, acceleration biasing method of estimation provided by the invention, initial method, the acceleration of vision inertia odometer
Estimation unit, vision inertia odometer and mobile unit are biased, estimates to accelerate by the movement velocity based on Rolling shutter camera
The acceleration biasing of degree meter, can be applicable not only to global shutter camera, and be applied to Rolling shutter camera.
In addition, acceleration biasing method of estimation provided by the invention, initial method, the acceleration of vision inertia odometer
Estimation unit, vision inertia odometer and mobile unit are biased, by the parallel estimation of parameter, shortens the time of process, and
Improve system effectiveness.
Brief description of the drawings
Fig. 1 is the indicative flowchart of diagram acceleration biasing method of estimation according to embodiments of the present invention；
Fig. 2 is the indicative flowchart of diagram vision inertia odometer initial method according to embodiments of the present invention；
Fig. 3 is the flow chart of an example of vision inertia odometer initial method according to embodiments of the present invention；
Fig. 4 is the schematic block diagram of diagram acceleration biasing estimation unit according to embodiments of the present invention；
Fig. 5 is the schematic block diagram of diagram vision inertia odometer according to embodiments of the present invention；
Fig. 6 is system schematic according to embodiments of the present invention；
Fig. 7 is the schematic block diagram of the specific implementation of the initialization module shown in Fig. 6；
Fig. 8 is the schematic block diagram of mobile unit according to embodiments of the present invention.
Embodiment
Describe to be used for the open present invention below so that those skilled in the art can realize the present invention.It is excellent in describing below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.Define in the following description
General principle of the invention can apply to other embodiments, deformation program, improvement project, equivalent and do not carry on the back
From the other technologies scheme of the spirit and scope of the present invention.
The term and word used in description below and claim is not limited to literal implication, but only by the present inventor
The present invention can be understood and as one man understand by being used so that.Therefore, to those skilled in the art clearly only for explanation
Purpose rather than provide this hair to limit the purpose of the present invention as defined in appended claims and their equivalent
The following description of bright various embodiments.
It is understood that term " one " be interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be multiple, and term " one " is no
It is understood that as the limitation to quantity.
Although for example the ordinal number of " first ", " second " etc. will be used to describe various assemblies, not limit those herein
Component.The term is only used for distinguishing a component and another component.For example, first assembly can be referred to as the second component, and together
Sample, the second component can also be referred to as first assembly, without departing from the teaching of inventive concept.Term as used herein " and/
Or " include any of one or more projects listed associated and all combinations.
The term being used herein is only used for describing the purpose of various embodiments and is not intended to limit.As used herein,
Singulative is intended to also include plural form, makes an exception unless the context clearly dictates.Will further be understood that term " comprising " and/or
" having " specifies depositing for described feature, number, step, operation, component, element or its combination when using in this specification
, and it is not excluded for the presence or additional of one or more of the other feature, number, step, operation, component, element or its group.
The term being used herein including technology and scientific terminology has the art being generally understood that with those skilled in the art
Language identical implication, so long as not being defined differently than the term.It should be understood that the term tool limited in usually used dictionary
There is the implication consistent with the implication of term of the prior art.
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description：
One side according to embodiments of the present invention, there is provided a kind of acceleration biases method of estimation, for estimating object
The acceleration biasing of accelerometer, the object further comprise Rolling shutter camera and Inertial Measurement Unit, and the inertia measurement
Unit includes the accelerometer, and acceleration biasing method of estimation includes：Obtain the gravitational vectors and the scale coefficient of environment；Obtain
Take the image captured by the Rolling shutter camera；It is somebody's turn to do according to the roller shutter effect of the Rolling shutter camera and captured image
The movement velocity of Rolling shutter camera；And the acceleration is obtained based on the gravitational vectors and the scale coefficient and movement velocity
The acceleration biasing of degree meter.
Fig. 1 is the indicative flowchart of diagram acceleration biasing method of estimation according to embodiments of the present invention.According to this hair
The acceleration biasing method of estimation of bright embodiment is used for the acceleration biasing for estimating the accelerometer of object, and the object further wraps
Rolling shutter camera and Inertial Measurement Unit are included, and the Inertial Measurement Unit includes the accelerometer.Also, as shown in figure 1, root
Include according to the acceleration biasing method of estimation of the embodiment of the present invention：S101, obtain the gravitational vectors and the scale coefficient of environment；
S102, obtain the image captured by the Rolling shutter camera；S103, according to the roller shutter effect of the Rolling shutter camera and captured
Image obtain the movement velocity of the Rolling shutter camera；And S104, based on the gravitational vectors and the scale coefficient and fortune
Dynamic speed obtains the acceleration biasing of the accelerometer.
In acceleration biasing method of estimation according to embodiments of the present invention, come using the roller shutter effect of Rolling shutter camera
The movement velocity of Rolling shutter camera is estimated, so as to the accelerometer estimating with the Rolling shutter camera to be located in same target
Acceleration biases.So, acceleration according to embodiments of the present invention biasing method of estimation can be applied not only to have the overall situation fast
The object of door camera, and can apply to the object with Rolling shutter camera.
Compared with global shutter camera, Rolling shutter camera possesses roller shutter effect when shooting photo.Here, roller shutter effect
It is to be realized by way of sensor exposes line by line, i.e. at the beginning of exposure, sensor progressive scan is exposed line by line
Light, until all pixels point is all exposed, therefore the time for exposure for pixel of not going together is different.Common Rolling shutter camera includes
Mechanical rolling screen door camera and electronic type rolling screen door camera.Also, Rolling shutter camera passes through roller shutter in three-dimensional space motion
Effect can estimate the speed of Rolling shutter camera, and this will be discussed in further detail below.
It will be understood by those skilled in the art that in acceleration biasing method of estimation according to embodiments of the present invention, including
The object of Rolling shutter camera and Inertial Measurement Unit is not limited only to vision inertia odometer, can be with miscellaneous equipment, such as hand
Machine, unmanned plane, mobile robot, intelligent vehicle etc..Also, the acceleration estimated is biased except for vision inertia odometer
Initialization outside, can be used for other purposes, such as high-precision GPS/IMU systems etc..Therefore, although being used to below with vision
It is described exemplified by property odometer, but the embodiment of the present invention is not limited to that.
Here, the accelerometer in Inertial Measurement Unit (IMU) is the instrument for measuring object acceleration.For example, plus
The working method of speedometer mainly includes folding the floating pendulum-type of closed loop liquid, folding flexible pendulum-type, folds type vibration wire, folds pendulum-type integration
One or more kinds of combinations such as gyro.Also, accelerometer can have different classification according to different mode classifications, for example,
By the linear accelerometer of displacement mode classification (detection quality makees displacement of the lines) and pendulous accelerometer (detection matter of detection quality
Amount rotates around support shaft).In addition, there are jewel supporting, flexible support, air supporting, liquid to float by support pattern classification, magnetic suspension and electrostatic
Suspend etc..Also, there are open loop type and closed loop by the composition form classification of measuring system, and have vibratory string by operation principle classification
Formula, vibration beam type and pendulous integrating gyro accelerometer, PIGA etc., classify by input shaft number, there is single shaft, twin shaft and three axis accelerometer,
And classify by sensing element, there are piezoelectric type, pressure resistance type and potentiometer type etc..
Accelerometer biasing in the embodiment of the present invention refers to the zero degree drift of accelerometer, i.e., accelerometer is in acceleration
For 0 when, the value of accelerometer.
In addition, the scale coefficient in the embodiment of the present invention refers to estimate move distance and the ratio of actual motion distance, institute
The estimation move distance stated refers to the move distance that Rolling shutter camera obtains, and described actual motion distance is surveyed by inertia
Measure the move distance that unit obtains.Also, what the gravitational vectors of the environment in the embodiment of the present invention referred to is exactly under usual environment
Gravity, it is a vector, including gravity direction and gravity value.
Because, it is necessary to gravitational vectors and the yardstick system of use environment in the estimation procedure that the acceleration of accelerometer biases
Number, below, the acquisition of the gravitational vectors and scale coefficient of environment will be illustrated first.
As noted previously, as what the gravitational vectors of the environment in the embodiment of the present invention referred to is exactly gravity under usual environment,
Therefore, the gravity size that gravitational vectors includes is defaulted as 9.8m/s2。
In some instances, estimating the method for the yardstick of Rolling shutter camera includes prior estimate method and least square fitting
Method, and estimating the method for gravity direction includes the offline estimation technique and On-line Estimation method.
In acceleration biasing method of estimation according to embodiments of the present invention, scale coefficient and gravity direction can be by following
Method combined calculation：
In the motion sequence of the image obtained from Rolling shutter camera, continuous three two field picture is taken out every time, uses roller shutter
Shutter camera and Inertial Measurement Unit IMU independently estimate the pose of itself by respective algorithms, i.e. use Rolling shutter phase
Machine and IMU separately estimate the pose of Rolling shutter camera and IMU pose.Then, with gravitational vectors and yardstick system
Number is variable, optimal gravitational vectors and scale coefficient is found by optimized algorithm so that the Rolling shutter camera estimated
The error of both pose and IMU poses is minimum.The process can be reduced to solve following linear equation (1).
Wherein,
In above formula, P is the displacement of Rolling shutter camera, and R is from world coordinate system or IMU to the rotation of Rolling shutter camera
Torque battle array, I3x33 × 3 unit matrix is represented, s is scale coefficient, gWIt is gravitational vectors, numeric suffix represents the 1st, the 2nd and
3 frames, subscript c are represented in camera coordinates system, and subscript B represents IMU coordinate systems, and subscript w represents world coordinate system.Also, Δ v is represented
The relative velocity of adjacent two frame, Δ P represent the relative displacement of adjacent two frame, and Δ t represents the time interval of adjacent two frame.
That is, in acceleration biasing method of estimation according to embodiments of the present invention, the gravitational vectors of environment is obtained
And the step of scale coefficient, specifically includes：Continuous three frames figure is extracted in the motion sequence of the image obtained from Rolling shutter camera
Picture；The pose of itself is independently estimated using Rolling shutter camera and Inertial Measurement Unit；With with scale coefficient and gravitational vectors
For variable, obtain itself pose for causing Rolling shutter camera and Inertial Measurement Unit the minimum optimal scale coefficient of error and
Optimal gravitational vectors, using the gravitational vectors of the environment of the estimation as the acceleration biasing for being subsequently used for accelerometer and yardstick system
Number.
As described above, Rolling shutter camera can estimate Rolling shutter camera in three-dimensional space motion, by roller shutter effect
Movement velocity.
Specifically, can be by being modeled to Rolling shutter camera, so as to the pose of Rolling shutter camera, angular velocity of rotation
It is variable with movement velocity, obtains the movement velocity for the Rolling shutter camera for causing re-projection error minimum.Here, the re-projection
Error such as below equation (2)：
Wherein, uiAnd viCoordinate for actual observation to pixel i, R are spin matrix, and T is displacement, and Ω is anglec of rotation speed
Degree, a are rotary shaft vectors, and V is speed,It is under given parameters, estimates the u coordinates where respective pixel point i, andIt is
Under given parameters, the v coordinates where respective pixel point i are estimated.
That is, in acceleration biasing method of estimation according to embodiments of the present invention, according to Rolling shutter camera
The step of roller shutter effect and captured image obtain the movement velocity of Rolling shutter camera specifically includes：To Rolling shutter camera
Modeling；With, using the pose, angular velocity of rotation and movement velocity of Rolling shutter camera as variable, obtain cause re-projection error most
The movement velocity of small Rolling shutter camera.
Certainly, it will be understood by those skilled in the art that the motion of Rolling shutter camera can also be achieved other ways
Speed, such as the speed that system of grabbing obtains Rolling shutter camera is caught by external movement.
After the movement velocity of Rolling shutter camera is obtained, can by the gravitational vectors of environment, scale coefficient and
One or more kinds of combinations of the parameters such as the movement velocity of Rolling shutter camera calculate the acceleration biasing of accelerometer.At one
In example, the computational methods of the acceleration biasing of accelerometer are as follows：
Respective pose is independently estimated by respective algorithms using Rolling shutter camera and IMU, according to estimating before
Scale coefficient and gravity direction out, and gravity size are defaulted as 9.8m/s2The fact, obtained from Rolling shutter camera
In the running process of image, continuous three two field picture is taken out every time, it is inclined with the acceleration of gravitational vectors, scale coefficient and accelerometer
Variable is set to, the acceleration that optimal gravitational vectors, scale coefficient and accelerometer are found by optimized algorithm biases so that volume
The error for the pose that curtain shutter camera and IMU each estimate is minimum.The process can be equivalent to solve following linear equation (3).
Wherein
In above formula, P is displacement, and R is spin matrix, and s is scale coefficient, RwIt is rotation of the gravity direction under world coordinate system
Torque battle array, G are 9.8m/s2,It is the antisymmetric matrix of the gravitational vectors of gravity direction,It is the relative position of consecutive frame
The local derviation to acceleration biasing is moved,It is the local derviation that the relative velocity of consecutive frame biases to acceleration.Numeric suffix represents
1, the 2nd and the 3rd frame, subscript c are represented in camera coordinates system, and subscript B represents IMU coordinate systems, and subscript W represents world coordinate system.And
And Δ v represents the relative velocity of adjacent two frame, Δ P represents the relative displacement of adjacent two frame, and Δ t represents the time of adjacent two frame
Interval.In addition, baBe accelerometer acceleration biasing, δ θxyIt is the disturbance quantity around gravity direction rotation.
Certainly, it will be understood by those skilled in the art that the acceleration that can also calculate accelerometer otherwise is inclined
Put, such as zero bias value of the measurement accelerometer under state of weightlessness, and put and counted according at least three positions of setting
Calculate acceleration biasing.
That is, in acceleration biasing method of estimation according to embodiments of the present invention, based on gravitational vectors and chi
The acceleration biasing that degree coefficient and movement velocity obtain accelerometer specifically includes：The fortune of the image obtained from Rolling shutter camera
Continuous three two field picture is extracted in dynamic sequence；The position of itself is independently estimated using Rolling shutter camera and Inertial Measurement Unit
Appearance；With variable is biased to the acceleration of gravitational vectors, scale coefficient and accelerometer, obtains and causes Rolling shutter camera
Minimum optimal scale coefficient, optimal gravitational vectors and optimal acceleration are inclined with the error of itself pose of Inertial Measurement Unit
Put.
So, method of estimation is biased by acceleration according to embodiments of the present invention, acceleration biasing can be significantly improved
Estimation precision and robustness.Also, acceleration biasing method of estimation according to embodiments of the present invention goes for the overall situation
Both shutter camera and Rolling shutter camera, so as to widen the application model of the acceleration of embodiment of the present invention biasing method of estimation
Enclose.
Also, in acceleration biasing method of estimation according to embodiments of the present invention, the gravitational vectors and chi of computing environment
The step of spending coefficient can be with obtaining image and the roller shutter effect according to Rolling shutter camera and the institute that Rolling shutter camera is shot
The step of movement velocity of the image acquisition Rolling shutter camera of shooting, is carried out simultaneously, so as to improve the estimation of acceleration biasing
The speed of process, improve the operational efficiency of the acceleration biasing method of estimation of the embodiment of the present invention.
Certainly, although it will be understood by those skilled in the art that describing the gravity arrow of computing environment in sequence above
Amount and the step of scale coefficient, the step of obtaining the image that Rolling shutter camera is shot and the roller shutter according to Rolling shutter camera
The step of effect and captured image obtain the movement velocity of Rolling shutter camera, but obtain the shooting of Rolling shutter camera
Image and the step that the movement velocity of Rolling shutter camera is obtained according to the roller shutter effect of Rolling shutter camera and captured image
Suddenly can also be carried out before the step of gravitational vectors and scale coefficient of computing environment.That is, shown in Fig. 1 according to this
The order of step S101, S102 and S103 in the indicative flowchart of the acceleration biasing method of estimation of inventive embodiments are only
For example, and not as the specific execution sequence of each step that method of estimation is biased to acceleration according to embodiments of the present invention
Limitation.
That is, in acceleration biasing method of estimation according to embodiments of the present invention, the gravitational vectors of environment is obtained
And the step of scale coefficient with obtain image captured by Rolling shutter camera and according to the roller shutter effect of Rolling shutter camera and
The step of movement velocity of captured image acquisition Rolling shutter camera, is carried out parallel.
Another aspect according to embodiments of the present invention, there is provided a kind of vision inertia odometer initial method, the vision
Inertia odometer includes Rolling shutter camera and Inertial Measurement Unit, and the Inertial Measurement Unit includes gyroscope and acceleration
Meter, the vision inertia odometer initial method include：Estimate the offset of gyroscope of the gyroscope；With acceleration as described above
Biasing method of estimation estimates the acceleration biasing of the accelerometer, and obtains gravitational vectors and the scale coefficient and motion speed
Degree；With with the offset of gyroscope, acceleration biasing, gravitational vectors, scale coefficient and the movement velocity that estimate to the vision inertia
Odometer is initialized.
Fig. 2 is the indicative flowchart of diagram vision inertia odometer initial method according to embodiments of the present invention.Should
Vision inertia odometer includes Rolling shutter camera and Inertial Measurement Unit, and the Inertial Measurement Unit includes gyroscope and acceleration
Degree meter.As shown in Fig. 2 the vision inertia odometer initial method includes：S201, estimate the offset of gyroscope of the gyroscope；
S202, the acceleration for estimating the accelerometer with acceleration as described above biasing method of estimation biases, and obtains gravitational vectors
And the scale coefficient and movement velocity；And S203, with offset of gyroscope, acceleration biasing, gravitational vectors, the yardstick estimated
Coefficient and movement velocity initialize to the vision inertia odometer.
In vision inertia odometer initial method according to embodiments of the present invention, gyroscope is to be used to measure angular speed
Instrument.For example, gyroscope can include sensing gyroscope instrument and instruction gyroscope.Wherein, sensing gyroscope instrument is transported for flying body
In dynamic automatic control system, as horizontal, vertical, pitching, course and angular-rate sensor.Instruction gyroscope is mainly used in flying
The instruction of row state, used as driving with navigation instrument.Also, gyroscope can also include piezoelectric gyroscope, micromechanics top
Spiral shell instrument, fibre optic gyroscope and lasergyro.
Here, offset of gyroscope refers to the zero degree drift of gyroscope, i.e. gyroscope gyroscope when angular speed is 0
Value.
The method of estimation of offset of gyroscope includes offline method of estimation and On-line Estimation method.For example, according to the present invention
In the vision inertia odometer initial method of embodiment, offset of gyroscope can calculate in the following manner：
The respective anglec of rotation is independently estimated by respective algorithms using Rolling shutter camera and IMU, then with top
Spiral shell instrument is biased to variable, and optimal offset of gyroscope is found by optimized algorithm so that the anglec of rotation error that both estimate is most
It is small, as shown in below equation (4)：
In above formula, i is the frame number of image, and N is totalframes, bgFor offset of gyroscope, Δ Ri,i+1It is that camera estimates
The relative rotation matrices of adjacent two frame,It is local derviation of the relative rotation matrices to offset of gyroscope of consecutive frame,It is IMU
Estimate i+1 frame when IMU relative to ground spin matrix,It is that IMU estimates that IMU is relative to the rotation with ground during the i-th frame
Matrix.
So, by vision inertia odometer initial method according to embodiments of the present invention, can significantly improve initial
Change the precision and robustness of the parameter Estimation of flow.Also, vision inertia odometer initialization side according to embodiments of the present invention
Method goes for both global shutter camera and Rolling shutter camera, so as to widen in the vision inertia of the embodiment of the present invention
The application of journey meter initial method.
Also, in vision inertia odometer initial method according to embodiments of the present invention, estimate offset of gyroscope
Step, the step of the gravitational vectors and scale coefficient of computing environment, and obtain the image and basis of the shooting of Rolling shutter camera
Phase between the step of roller shutter effect of Rolling shutter camera and captured image obtain the movement velocity of Rolling shutter camera
It is mutually independent.That is, these three steps both can be carried out sequentially, can also carry out simultaneously, or certain two steps therein
Suddenly carry out simultaneously, so, improve the carry out speed of initialization procedure, improve the vision inertia odometer of the embodiment of the present invention
The operational efficiency of initial method.
Therefore, it will be understood by those skilled in the art that the acceleration biasing according to embodiments of the present invention shown in Fig. 1 is estimated
The order of step S101, S102 and S103 in the indicative flowchart of method, and it is according to embodiments of the present invention shown in Fig. 2
Vision inertia odometer initial method in step S201 and S202 it is merely illustrative, and not as to according to of the invention real
Apply the limitation of the specific execution sequence of each step of the vision inertia odometer initial method of example.
That is, in inertia odometer initial method according to embodiments of the present invention, the gyro of gyroscope is estimated
The step of instrument biases, the step of gravitational vectors and scale coefficient of environment is obtained with obtaining the image captured by Rolling shutter camera
And in the step of obtaining the movement velocity of Rolling shutter camera according to the roller shutter effect of Rolling shutter camera and captured image
At least two steps carry out parallel.
In addition, vision inertia odometer initial method according to embodiments of the present invention may further include calibration step
Suddenly, for the parameter of calibration initialization.It is for instance possible to use external data is calibrated to initiation parameter.In addition, also may be used
The calibration of parameter is carried out with the internal calibrations using above-mentioned parameter.
Therefore, in above-mentioned inertia odometer initial method, further comprise：With estimate offset of gyroscope, plus
Speed biasing, gravitational vectors, scale coefficient and movement velocity are constructed using re-projection error as the excellent of object function as initial value
Change；With, by optimization be iterated solution, with to offset of gyroscope, acceleration biasing, gravitational vectors, scale coefficient and fortune
Dynamic speed optimizes.
By above-mentioned calibration steps, the parameter Estimation of the initialization flow of vision inertia odometer can be further improved
Precision.
Fig. 3 is the flow chart of an example of vision inertia odometer initial method according to embodiments of the present invention.Such as
Shown in Fig. 3, the initialization procedure includes：S301, computing gyroscope biasing；S302, calculate the gravity arrow of scale coefficient and environment
Amount；S303, obtain the image captured by Rolling shutter camera；S304, phase is calculated according to the image of roller shutter effect and shooting
The movement velocity of machine；S305, the acceleration biasing based on movement velocity, scale coefficient and Gravity calculation accelerometer；S306, school
Standard calculates resulting parameter.
Also, as described above, step S303 and S304 can it is synchronous with step S301 and S302 carry out, can also be in step
Carried out before S301 and S302.In addition, step S301 and step S302 can also be carried out synchronously, or step S302 is in step
Carried out before S301.
Another further aspect according to embodiments of the present invention, there is provided a kind of acceleration biases estimation unit, for estimating object
Accelerometer acceleration biasing, the object further comprises Rolling shutter camera and Inertial Measurement Unit, and the inertia is surveyed
Amount unit includes the accelerometer, and acceleration biasing estimation unit includes：Gravity and yardstick acquiring unit, for obtaining environment
Gravitational vectors and the scale coefficient；Image acquisition unit, for obtaining the image of Rolling shutter camera shooting；Movement velocity
Acquiring unit, the fortune of the Rolling shutter camera is obtained for the roller shutter effect according to the Rolling shutter camera and captured image
Dynamic speed；And acceleration biasing estimation unit, for based on the gravitational vectors and the scale coefficient and movement velocity acquisition
The acceleration biasing of the accelerometer.
Fig. 4 is the schematic block diagram of diagram acceleration biasing estimation unit according to embodiments of the present invention.As shown in figure 4,
Acceleration biasing estimation unit 400 according to embodiments of the present invention is used to estimate that the acceleration of the accelerometer of object 410 is inclined
Put, the object 410 further comprises Rolling shutter camera 420 and Inertial Measurement Unit 430, and the Inertial Measurement Unit 430 wraps
Include the accelerometer 431.Also, acceleration biasing estimation unit 400 includes：Gravity and yardstick acquiring unit 401, for obtaining
Obtain the gravitational vectors of environment and the scale coefficient of the Rolling shutter camera 420；Image acquisition unit 402, for obtaining the roller shutter
The image that shutter camera 420 is shot；Movement velocity acquiring unit 403, for the roller shutter effect according to the Rolling shutter camera 420
The motion of the Rolling shutter camera is obtained with the image of the Rolling shutter camera 420 shooting acquired in image acquisition unit 402
Speed；And acceleration biasing estimation unit 404, for the gravity arrow based on the gravity and the acquisition of yardstick acquiring unit 401
Amount and the scale coefficient, and the movement velocity of the Rolling shutter camera 420 that the movement velocity acquiring unit 403 obtains obtain
Obtain the acceleration biasing of the accelerometer 431.
In above-mentioned acceleration biases estimation unit, the gravity and yardstick acquiring unit are specifically used for：From the Rolling shutter
Continuous three two field picture is extracted in the motion sequence for the image that camera obtains；Use the Rolling shutter camera and Inertial Measurement Unit
Independently estimate the pose of itself；With, using the scale coefficient and gravitational vectors as variable, obtain cause the Rolling shutter camera and
The minimum optimal scale coefficient of the error of itself pose of the Inertial Measurement Unit and optimal gravitational vectors.
In above-mentioned acceleration biases estimation unit, the movement velocity acquiring unit is specifically used for：To the Rolling shutter phase
Machine models；With, using the pose, angular velocity of rotation and movement velocity of the Rolling shutter camera as variable, obtain cause re-projection miss
The movement velocity of the poor minimum Rolling shutter camera.
In above-mentioned acceleration biases estimation unit, acceleration biasing acquiring unit is specifically used for：From the Rolling shutter
Continuous three two field picture is extracted in the motion sequence for the image that camera obtains；Use the Rolling shutter camera and Inertial Measurement Unit
Independently estimate the pose of itself；Be biased to become with the acceleration of the gravitational vectors, the scale coefficient and the accelerometer
Amount, obtain the optimal scale coefficient, most for the error minimum for causing the Rolling shutter camera He the Inertial Measurement Unit itself pose
Excellent gravitational vectors and the biasing of optimal acceleration.
In above-mentioned acceleration biases estimation unit, the gravity size that the gravitational vectors includes is defaulted as 9.8m/s2。
In above-mentioned acceleration biases estimation unit, the gravity and yardstick acquiring unit and the image acquisition unit and the fortune
The combination synchronous operation of both dynamic speed acquiring units.
Here, it will be understood by those skilled in the art that acceleration according to embodiments of the present invention biases its of estimation unit
Its details is identical previously with regards to the relevant details described by acceleration biasing method of estimation according to embodiments of the present invention,
In order to avoid redundancy will not be described in great detail.
Another aspect according to embodiments of the present invention, there is provided a kind of vision inertia odometer, including Rolling shutter camera
And Inertial Measurement Unit, and the Inertial Measurement Unit includes gyroscope and accelerometer, the vision inertia odometer further wraps
Include：Offset of gyroscope estimation unit, for estimating the offset of gyroscope of the gyroscope；As above the acceleration biasing estimation dress being somebody's turn to do
Put；With, initialization unit, for estimate the offset of gyroscope, acceleration biasing, the gravitational vectors, the yardstick system
Number and the movement velocity initialize to the vision inertia odometer.
Fig. 5 is the schematic block diagram of diagram vision inertia odometer according to embodiments of the present invention.As shown in Fig. 5, according to
The vision inertia odometer 500 of the embodiment of the present invention includes Rolling shutter camera 510 and Inertial Measurement Unit 520, and the inertia
Measuring unit 520 includes gyroscope 521 and accelerometer 522.The vision inertia odometer 500 further comprises：Gyroscope is inclined
Estimation unit 530 is put, for estimating the offset of gyroscope of the gyroscope 521；Acceleration biasing estimation unit as described above
540；With initialization unit 550, for the offset of gyroscope estimated with offset of gyroscope estimation unit 530, and acceleration
Acceleration biasing, the gravitational vectors, the scale coefficient and movement velocity that degree biasing estimation unit 540 estimates regard to this
Feel that inertia odometer is initialized.
Here, acceleration biasing estimation unit includes：Gravity and yardstick acquiring unit, the gravity for obtaining environment are sweared
Amount and the scale coefficient；Image acquisition unit, for obtaining the image of Rolling shutter camera shooting；Movement velocity obtains single
Member, for the Rolling shutter camera shooting acquired in the roller shutter effect and image acquisition unit according to the Rolling shutter camera
Image obtains the movement velocity of the Rolling shutter camera；And acceleration biasing estimation unit, for based on the gravity and yardstick
The gravitational vectors and the scale coefficient that acquiring unit obtains, and the Rolling shutter camera that the movement velocity acquiring unit obtains
Movement velocity come obtain the acceleration of the accelerometer biasing.
In above-mentioned vision inertia odometer, further comprise：Alignment unit, for inclined with the gyroscope estimated
Put, acceleration biasing, the gravitational vectors, the scale coefficient and the movement velocity as initial value, construct using re-projection error as
The optimization of object function；With by being iterated solution to the optimization, with to the offset of gyroscope, acceleration biasing, this is heavy
Force vector, the scale coefficient and the movement velocity optimize.
In above-mentioned vision inertia odometer, the offset of gyroscope estimation unit, the gravity and yardstick acquiring unit, with should
At least two synchronous operations in the combination of both image acquisition unit and the movement velocity acquiring unit.
Here, it will be understood by those skilled in the art that vision inertia odometer according to embodiments of the present invention it is other thin
Relevant details complete phase of the section described by previously with regards to vision inertia odometer initial method according to embodiments of the present invention
Together, in order to avoid redundancy will not be described in great detail.
Fig. 6 is system schematic according to embodiments of the present invention.As shown in fig. 6, system bag according to embodiments of the present invention
Include sensing module 601 and image processing module 602.Wherein, sensing module 601 includes Rolling shutter camera 602, gyroscope 603,
And accelerometer 604.Here, Rolling shutter camera 602, gyroscope 603 and accelerometer 604 are previously with regards to according to this hair
It is identical described in the acceleration biasing method of estimation of bright embodiment, just repeat no more herein.
Also, image processing module 605 includes initialization module 606, processor 607, memory module 608.It is wherein initial
Change the parameter that module 606 is used to initialize sensing module 601, the parameter includes offset of gyroscope, scale coefficient, gravity, motion
One or more kinds of combinations of speed, acceleration biasing etc..In addition, processor 607 is used for after the completion of initialization based on initial
Change the processing that parameter carries out successive image, realize the function of camera position positioning in real time and three-dimensional map structure, and memory module
608 are used to store various information.
Fig. 7 is the schematic block diagram of the specific implementation of the initialization module shown in Fig. 6.As shown in fig. 7, initialization module
700 include offset of gyroscope computing module 701, yardstick and Gravity calculation module 702, speed calculation module 703, acceleration biasing
Computing module 704, and calibration module 705.Here, the function performed by above-mentioned modules is previously with regards to according to the present invention
The acceleration biasing method of estimation of embodiment is identical with the function described in vision inertia odometer initial method, at this
In just repeat no more.
In accordance with a further aspect of the present invention, there is provided a kind of mobile unit, including：Memory, can for storing computer
Execute instruction；With processor, for performing the computer executable instructions of the memory storage, to perform as implied above add
Speed biases method of estimation.
According to another aspect of the invention, there is provided a kind of mobile unit, including：Memory, can for storing computer
Execute instruction；With, processor, for performing the computer executable instructions of the memory storage, regarded as described above with performing
Feel inertia odometer initial method.
Fig. 8 is the schematic block diagram of mobile unit according to embodiments of the present invention.As shown in figure 8, implemented according to the present invention
The mobile unit 800 of example includes：Memory 810, for storing computer executable instructions；With processor 820, for performing
The computer executable instructions of the memory storage, to perform in acceleration biasing method of estimation as described above and vision inertia
Journey meter initial method.
Here, it will be understood by those skilled in the art that other details of mobile unit according to embodiments of the present invention therewith
It is preceding to be biased on acceleration according to embodiments of the present invention described by method of estimation and vision inertia odometer initial method
Relevant details are identical, in order to avoid redundancy will not be described in great detail.
In an embodiment of the present invention, mobile unit can be installed in various types of transport facilitys, and not
Be only limitted to conventional meaning family-sized car or any other type vehicle it is either manned or unpiloted
The vehicles, such as ground, transport facility waterborne and/or aerial.Therefore, although in the description of the invention, using
Term " mobile unit ", it will be appreciated by a person skilled in the art that the equipment is not limited to associated with vehicle, and can be
Any airborne equipment having with the communication function of mobile terminal, including but not limited to various types of guiders, the whole world are fixed
Position system (GPS) receiver, event data recorder (EDR), flight data recorder (FDR), automotive infotainment device, ship
Oceangoing ship electronic installation (for example, marine navigation device, gyroscope or compass), avionic unit.
Therefore, acceleration according to embodiments of the present invention biasing method of estimation and acceleration biasing estimation unit, and regard
Feel inertia odometer initial method and vision inertia odometer can also be applied to oneself of various types of transport facilitys
It is dynamic to drive, it is not limited solely to the automatic Pilot of vehicle.
The mobile unit includes one or more processors, such as processor 820 as shown in Figure 8.This or more
Each in individual processor can be able to carry out machine readable and executable instruction equipment, for example, computer, Wei Chu
Reason device, microcontroller, integrated circuit, microchip or any other calculating are set.The one or more processors can couple
To the communication path that offer signal interconnects between the modules of vehicle.The communication path can cause any amount of
Processor couples with being in communication with each other, including but not limited to the processor in mobile unit, and can allow couple to communication lines
Computing environment operates module in the mobile unit in footpath in a distributed manner.Specifically, each module may be operative to it is transmittable and/
Or receive the node of data.Also, number can be exchanged with each other between the part that " communicatively coupled " refers to intercoupling
According to, such as in the form of electric signal, electromagnetic signal, optical signal.
In addition, mobile unit includes being coupled to one or more memory modules of communication path, such as shown in Figure 8
Memory 810.The memory module is configurable to include volatile memory, such as static RAM (S-
And EPROM (EPROM) and EEPROM (EEPROM) (ROM).In the memory
In module, any form of machine readable and executable instruction is stored to be accessed by processor.The machine readable and executable finger
Order can be the logic or algorithm write with any programming language, for example, can directly by the machine language of computing device, or
Person can be compiled or be collected as machine readable instructions and be stored in the assembler language in memory module, OOP
(OOP) language, Javascript language, microcode etc..Alternatively, the machine readable and executable instruction can also be with hardware
Description language is write as, such as the logic with the realization such as programmable logic array (FPGA) or application specific integrated circuit (ASIC).
Acceleration provided by the invention biases method of estimation, the initial method of vision inertia odometer, acceleration biasing
Estimation unit, vision inertia odometer and mobile unit, pass through the movement velocity estimated acceleration meter based on Rolling shutter camera
Acceleration biasing, can improve acceleration biasing estimation precision and robustness.
Further, acceleration provided by the invention biasing method of estimation, vision inertia odometer initial method plus
Speed biasing estimation unit, vision inertia odometer and mobile unit, are estimated by the movement velocity based on Rolling shutter camera
The acceleration biasing of accelerometer, and then the initialization of the parameter of vision inertia odometer is carried out, initialization flow can be improved
In parameter Estimation precision and robustness.
Also, acceleration biasing method of estimation provided by the invention, initial method, the acceleration of vision inertia odometer
Estimation unit, vision inertia odometer and mobile unit are biased, estimates to accelerate by the movement velocity based on Rolling shutter camera
The acceleration biasing of degree meter, can be applicable not only to global shutter camera, and be applied to Rolling shutter camera.
In addition, acceleration biasing method of estimation provided by the invention, initial method, the acceleration of vision inertia odometer
Estimation unit, vision inertia odometer and mobile unit are biased, by the parallel estimation of parameter, shortens the time of process, and
Improve system effectiveness.
Claims (10)
1. a kind of acceleration biases method of estimation, the acceleration biasing of the accelerometer for estimating object, the object enters one
Step includes Rolling shutter camera and Inertial Measurement Unit, and the Inertial Measurement Unit includes the accelerometer, the acceleration
Degree biasing method of estimation includes：
Obtain the gravitational vectors of scale coefficient and environment；
Obtain the image captured by the Rolling shutter camera；
The motion speed of the Rolling shutter camera is obtained according to the roller shutter effect of the Rolling shutter camera and captured image
Degree；And
The acceleration biasing of the accelerometer is obtained based on the gravitational vectors and the scale coefficient and movement velocity.
2. acceleration as claimed in claim 1 biases method of estimation, wherein, the gravitational vectors for obtaining environment and the chi
Degree coefficient specifically includes：
Continuous three two field picture is extracted in the motion sequence of the image obtained from the Rolling shutter camera；
Independently estimate the pose of itself using the Rolling shutter camera and Inertial Measurement Unit；With
Using the scale coefficient and gravitational vectors as variable, obtain and cause the Rolling shutter camera and the Inertial Measurement Unit
Itself pose the minimum optimal scale coefficient of error and optimal gravitational vectors.
3. acceleration as claimed in claim 1 biases method of estimation, wherein, the roller shutter according to the Rolling shutter camera
The movement velocity that effect and captured image obtain the Rolling shutter camera specifically includes：
The Rolling shutter camera is modeled；
Using pose, angular velocity of rotation and the movement velocity of the Rolling shutter camera as variable, obtain and cause re-projection error most
The movement velocity of the small Rolling shutter camera.
4. acceleration as claimed in claim 1 biases method of estimation, wherein, it is described to be based on the gravitational vectors and the chi
The acceleration biasing that degree coefficient and movement velocity obtain the accelerometer specifically includes：
Continuous three two field picture is extracted in the motion sequence of the image obtained from the Rolling shutter camera；
Independently estimate the pose of itself using the Rolling shutter camera and Inertial Measurement Unit；
Variable is biased to the acceleration of the gravitational vectors, the scale coefficient and the accelerometer, obtains and causes institute
State the minimum optimal scale coefficient of the error of itself pose of Rolling shutter camera and the Inertial Measurement Unit, optimal gravity arrow
Amount and the biasing of optimal acceleration.
5. acceleration as claimed in claim 1 biases method of estimation, wherein, the gravity size acquiescence that the gravitational vectors includes
For 9.8m/s2。
6. a kind of vision inertia odometer initial method, the vision inertia odometer includes Rolling shutter camera and inertia is surveyed
Unit is measured, and the Inertial Measurement Unit includes gyroscope and accelerometer, the vision inertia odometer initial method bag
Include：
Estimate the offset of gyroscope of the gyroscope；
Biased with the acceleration of accelerometer as described in the method estimation as described in any one in claim 1 to 5, and obtain institute
State gravitational vectors and the scale coefficient and movement velocity；With
With the offset of gyroscope, acceleration biasing, the gravitational vectors, the scale coefficient and the fortune estimated
Dynamic speed initializes to the vision inertia odometer.
7. a kind of acceleration biases estimation unit, the acceleration biasing of the accelerometer for estimating object, the object enters one
Step includes Rolling shutter camera and Inertial Measurement Unit, and the Inertial Measurement Unit includes the accelerometer, the acceleration
Degree biasing estimation unit includes：
Gravity and yardstick acquiring unit, for the gravitational vectors for obtaining environment and the scale coefficient；
Image acquisition unit, for obtaining the image of the Rolling shutter camera shooting；
Movement velocity acquiring unit, for described in the roller shutter effect according to the Rolling shutter camera and the acquisition of captured image
The movement velocity of Rolling shutter camera；And
Acceleration biases estimation unit, described in being obtained based on the gravitational vectors and the scale coefficient and movement velocity
The acceleration biasing of accelerometer.
8. a kind of vision inertia odometer, including Rolling shutter camera and Inertial Measurement Unit, and the Inertial Measurement Unit bag
Gyroscope and accelerometer are included, the vision inertia odometer further comprises：
Offset of gyroscope estimation unit, for estimating the offset of gyroscope of the gyroscope；
Acceleration biasing estimation unit as claimed in claim 7；With
Initialization unit, for the offset of gyroscope, acceleration biasing, the gravitational vectors, described to estimate
Scale coefficient and the movement velocity initialize to the vision inertia odometer.
9. a kind of mobile unit, including：
Memory, for storing computer executable instructions；With
Processor, for performing the computer executable instructions of the memory storage, to perform as appointed in claim 1 to 5
Acceleration biasing method of estimation described in meaning one.
10. a kind of mobile unit, including：
Memory, for storing computer executable instructions；With
Processor, for performing the computer executable instructions of the memory storage, regarded as claimed in claim 6 with performing
Feel inertia odometer initial method.
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Application publication date: 20180119 |
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