CN109186596A - IMU measurement data generation method, system, computer installation and readable storage medium storing program for executing - Google Patents
IMU measurement data generation method, system, computer installation and readable storage medium storing program for executing Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The present invention provides a kind of IMU measurement data generation method and device, computer installation and readable storage medium storing program for executing, including obtains pose track data, wherein the pose track data includes several pose trace informations；Interpolation processing is carried out to two adjacent bit appearance trace informations, to obtain the pose trace information after one or more interpolation processings between the two adjacent bits appearance trace information；According to the acceleration information of positional information calculation motion model in the pose track data；And the angular velocity information of motion model is calculated according to rotation information in the pose track data；Pose map function is executed to the motion model.The present invention can generate the measurement data of IMU according to the pose trace information of camera, avoid the problem of installing the hardware synchronization problem being related to after IMU and camera and IMU relative mounting location in robot.
Description
Technical field
The present invention relates to robot field more particularly to a kind of IMU measurement data generation method based on camera pose, it is
System, computer installation and readable storage medium storing program for executing.
Background technique
This part intends to provides background for the embodiments of the present invention stated in claims and specific embodiment
Or context.Description herein recognizes it is the prior art not because not being included in this section.
With mobile robot constantly used in human lives with development, sweeping robot, family accompany robot,
Meal delivery robot etc. enters the sight of the public successively.The focus and emphasis of current robot development is that robot wants to pass through
Various sensors obtain environmental informations, using artificial intelligence identification, understand, reasoning and carry out judgement and decision is certain to complete
Task.
SLAM (Simultaneous Localization And Mapping, while building figure and positioning) problem can retouch
It states are as follows: a robot is put into the unknown position in circumstances not known, if having method that robot is allowed gradually to depict this on one side
The map of environment completes the estimation to self-position and posture according to the map generated on one side.SLAM earliest by Smith,
Self and Cheeseman was proposed in 1988, due to its important theory and application value, was considered to realize by many scholars true
The key of just full autonomous mobile robot.And vision SLAM is a kind of using visual sensor as the side SLAM of robot perception equipment
Method.Visual sensor can be divided into monocular camera, binocular camera, RGB-D camera etc., and wherein RGB-D camera is that one kind can be same
When obtain color image information (RGB) and image depth information (Depth) visual sensor.
Visual odometry is the important component of SLAM technology, this part is mainly responsible for the information of collecting sensor,
The preliminary motion profile for estimating camera and motion state (i.e. the motion profile and motion state of connected robot).Again just
Step estimate more than information after, this result can be passed to the other parts of SLAM by odometer part, higher to complete
The estimation of precision.
IMU (Inertial Measurement Unit, Inertial Measurement Unit) be measure three axis of object angular speed and
The device of linear acceleration.In general, an IMU contains three uniaxial accelerometers (accelerometer) and three
Uniaxial gyroscope (gyroscope).Accelerometer is able to detect the acceleration letter that object founds three axis in carrier coordinate system unification and independence
Number, and angular velocity signal of the gyroscope detection carrier relative to carrier coordinate system, object is measured together with accelerometer and gyroscope
The angular speed and acceleration of body in three dimensions, and calculate with this posture of object.Thus, navigation of the IMU in robot
There is critically important application value with Guaranteed.
In field and the testing algorithm availability for measuring vision inertia odometer and vision inertia SLAM algorithm effect
When, IMU can be installed again in robot, but if it is intended to install IMU simultaneously, need to consider IMU measurement data with
The problem of the problem of camera measurement data hardware synchronous (i.e. time of measuring is synchronous) and camera and IMU relative mounting location, this
The problem of calibrating for having related to camera Yu IMU data, at present still without perfect solution.And for it is most of
For the open source data set in the field vision SLAM, not containing the measurement data of IMU.
Summary of the invention
In view of above-mentioned, the present invention provides a kind of IMU measurement data generation method, system, computer installation and readable storage
Medium can generate IMU data based on phase posture information, and it is same to advantageously account for the hardware being related to after robot installation IMU
The problem of step problem and camera and IMU relative mounting location.
A kind of IMU measurement data generation method, comprising:
Pose track data is obtained, wherein the pose track data includes several pose trace informations, each pose rail
Mark information includes location information and rotation information；
Interpolation processing is carried out to two adjacent bit appearance trace informations, it is one or more positioned at the two adjacent bits appearance rail to obtain
Pose trace information after interpolation processing between mark information, and update the pose track data；
According to the acceleration information of positional information calculation motion model in the updated pose track data；And according to
Rotation information calculates the angular velocity information of the motion model in the updated pose track data；
Pose map function is executed to the motion model, the motion model is converted into Inertial Measurement Unit coordinate
Motion model under system.
Further, described that interpolation is carried out to two adjacent bit appearance trace informations in the IMU measurement data generation method
Processing includes:
Interpolation processing is carried out to the two adjacent bits appearance trace information according to the frequency of Inertial Measurement Unit.
Further, described that interpolation is carried out to two adjacent bit appearance trace informations in the IMU measurement data generation method
Processing includes:
Interpolation operation is carried out to the location information in the two adjacent bits appearance trace information using linear interpolation algorithm；
Interpolation operation is carried out to the rotation information in the two adjacent bits appearance trace information using spherical surface interpolation.
Further, described that interpolation is carried out to two adjacent bit appearance trace informations in the IMU measurement data generation method
Processing includes:
Interpolation operation is carried out to the location information in the two adjacent bits appearance trace information using polynomial function algorithm；
Interpolation operation is carried out to the rotation information in the two adjacent bits appearance trace information using spherical surface interpolation.
Further, described to utilize spherical surface interpolation to the two adjacent bits appearance in the IMU measurement data generation method
Rotation information in trace information carries out interpolation operation
Judging rotation information and the rotation information dot product in the second pose trace information in the first pose trace information is
It is no to be negative, wherein the two-phase ortho position appearance trace information includes the first pose trace information and second pose track letter
Breath；
Rotation information and the second pose trace information when the dot product is negative, in the first pose trace information
In rotation information conjugation between carry out interpolation operation；
When the dot product is timing, rotation information and the second pose trace information in the first pose trace information
In rotation information between carry out interpolation operation.
Further, described that pose transformation behaviour is executed to the motion model in the IMU measurement data generation method
Work includes:
The motion model is multiplied with homogeneous transform matrix, to obtain the movement under the Inertial Measurement Unit coordinate system
Model.
Further, the IMU measurement data generation method further include:
Noise processed is carried out to the transformed motion model, to generate the measurement number of the corresponding Inertial Measurement Unit
According to.
A kind of IMU measurement data generation system, comprising:
Acquiring unit, for obtaining pose track data, wherein the pose track data is believed comprising several pose tracks
Breath, each pose trace information include location information and rotation information；
Interpolating unit, it is one or more positioned at institute to obtain for carrying out interpolation processing to two adjacent bit appearance trace informations
Pose trace information after stating the interpolation processing between two adjacent bit appearance trace informations, and update the pose track data；
Computing unit, for the acceleration according to positional information calculation motion model in the updated pose track data
Spend information；And the angular velocity information of motion model is calculated according to rotation information in the updated pose track data；
The motion model is converted into used by converter unit for executing pose map function to the motion model
Motion model under property measuring unit coordinate system.
A kind of computer installation, the computer installation include processor, and the processor is deposited for executing in memory
The step of IMU measurement data generation method is realized when the computer program of storage.
A kind of readable storage medium storing program for executing is stored thereon with computer program, real when the computer program is executed by processor
Now the step of IMU measurement data generation method.
Above-mentioned IMU measurement data generation method, system, computer installation and readable storage medium storing program for executing can be according to the poses of camera
Trace information generates the measurement data of IMU, avoids the hardware synchronization problem installed in robot and be related to after IMU, and
The problem of camera and IMU relative mounting location.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical solution of embodiment of the present invention
The attached drawing used is briefly described, it should be apparent that, the accompanying drawings in the following description is some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the flow chart of the better embodiment of IMU measurement data generation method of the present invention；
Fig. 2 is the schematic diagram that IMU measurement data of the present invention generates that system is applied to the better embodiment of computer installation；
Fig. 3 is the block diagram that IMU measurement data of the present invention generates system better embodiment.
Main element symbol description
Computer installation 1
IMU measurement data generates system 417
Processor 401
Display screen 403
Memory 405
Input/output interface 407
Network interface 409
Acquiring unit 300
Interpolating unit 302
Computing unit 304
Converter unit 306
Processing unit 308
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention will be described in detail.It should be noted that in the absence of conflict, presently filed embodiment and reality
The feature applied in mode can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, described embodiment
Only some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, this field
Those of ordinary skill's every other embodiment obtained without making creative work, belongs to guarantor of the present invention
The range of shield.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Fig. 1 is the flow chart of the IMU measurement data generation method of first embodiment of the invention, it should be noted that this reality
The grasping means for applying mode is not limited to step and sequence in flow chart shown in FIG. 1.Shown according to different requirements,
Step in flow chart can increase, remove or change sequence.
Step 100, pose track data is obtained, wherein the pose track data includes several pose trace informations, often
One pose trace information includes location information and rotation information.
It is to be appreciated that settable camera in robot, with poses such as the motion profile and the motion states that obtain robot
Data.The camera can have the track (the Ground truth that its data set may be from) of six degree of freedom.The pose data
It can be stored in pose trail file or be stored in pose track database, therefore, when obtaining the pose track data
It can be obtained out of corresponding pose trail file or database.Preferably, the pose track data may include based on pose rail
Mark information, each pose trace information may include the information such as position timestamp, location information and rotation information.Specifically, described
The data type of timestamp can be double precision (double type)；The location information can correspond to the position of Three Degree Of Freedom, can have
There are three type double precisions: the rotation information can correspond to the rotation information of Three Degree Of Freedom, can have there are four type double precision,
Described in rotation information can be quaternary number, indicate that representation can are as follows: w+xi+yj+zk.
For example, timestamp can for a pose trace information are as follows: 1305031102.211214, in the location information
First position, the second position and the third place may respectively be -0.001420095,0.007655886,0.010920254；It is described
Quaternary number x, quaternary number y, quaternary number z and quaternary number w may respectively be in rotation information: -0.001964978, -
0.003080067、-0.001635573、0.999992013。
Step 102, interpolation processing is carried out to two adjacent bit appearance trace informations, it is one or more positioned at the two-phase to obtain
The pose trace information after interpolation processing between the appearance trace information of ortho position, and update the pose track data.
In one embodiment, the two adjacent bits appearance trace information can be carried out according to the frequency of Inertial Measurement Unit slotting
Value processing.The frequency of IMU DATA REASONING is generally higher than camera measurement frequency, and some is up to 5 times or more.For example, the survey of camera
Measuring frequency is 30Hz or so, and the frequency of IMU measurement can be in 200Hz or so.It in other embodiments, can be right otherwise
The two adjacent bits appearance trace information carries out interpolation processing (by being inserted into fixed quantity in the two adjacent bits appearance trace information
Pose trace information).
In one embodiment, the frequency that camera measurement is calculated of the timestamp to camera can be passed through.For example, described
It may include the first pose trace information, the second pose trace information, third pose trace information and the 4th in pose track data
Pose trace information.The measurement frequency of the camera can according in the unit time (such as 1 second) in institute in the pose track data
The quantity of the record of rheme appearance trace information, thus, the different (two-phases of the time interval corresponding to the two adjacent bit appearance track datas
The difference of the timestamp of ortho position appearance track data is represented by time interval) when, the position be inserted into two adjacent bit appearance track datas
The quantity of appearance trace information may be different.In other embodiments, the measurement frequency of institute's camera also can be by other means
It obtains, the relevant parameter of camera as described in obtaining.
Preferably, after the measurement frequency confirmation of the camera, it can be according to the frequency of the Inertial Measurement Unit come to two
Adjacent pose trace information carries out interpolation processing.For example, can be in the first pose trace information and the second pose trace information
Between be inserted into N number of pose trace information, M pose can be inserted between the second pose trace information and third pose trace information
Trace information can be inserted into P pose trace information between the third pose trace information and the 4th pose trace information.It can be with
Understand ground, the frequency of the Inertial Measurement Unit, which can be stored in, to be prepared in file, in this way, can obtain by the preparation file
The frequency of the Inertial Measurement Unit.
It is to be appreciated that carrying out interpolation processing in the two adjacent bits appearance trace information may include inserting to location information
Value processing and the interpolation processing to rotation information.
Preferably, in the interpolation processing to location information, if time interval between the two adjacent bits appearance trace information
It within a preset range (such as in 0.03s), indicates that the motion change of robot or carrier is not violent, interpolation algorithm reckoning can be used
The pose trace information of multiple virtual cameras between two adjacent bit appearance trace informations out.
For the Three Degree Of Freedom pose information of camera, interpolation operation is completed using linear interpolation algorithm, as follows:
Y=ty0+(1-t)y1
Wherein, t is arranged between section [0,1], y0Indicate corresponding first time in the two adjacent bits appearance trace information
The pose trace information of stamp, y1Indicate the pose trace information of corresponding second timestamp in the two adjacent bits appearance trace information,
Wherein the first time stamp can be earlier than the second timestamp, so, it is ensured that interpolation result is in y0Between y1.It is more by being arranged
A t can obtain multiple interpolation results.For example, being inserted between the first pose trace information and the second pose trace information
N number of pose trace information, the t can be N；M are inserted between the second pose trace information and third pose trace information
Pose trace information, the t can be M.Timestamp in pose trace information can be also determined based on above-mentioned formula, such as
By y in above-mentioned formula0And y1It is substituted in the timestamp and the second pose trace information in the corresponding first pose trace information
Timestamp.
It is to be appreciated that other than linear interpolation, when the motion change of camera is more violent, using multinomial letter
Number carries out interpolation arithmetic, and this interpolation arithmetic can simulate polynomial function variation.
Preferably, spherical surface interpolation algorithm can be used in the interpolation processing to rotation information.Due to the quaternary of rotation information
Number is distributed across manifold space (such as space spherical surface), it is not closed to signed magnitude arithmetic(al), so using simple linear
Interpolation the result is that non-uniform, cannot guarantee that it is still unit quaternion.Therefore, can by spherical surface interpolation method come pair
Rotation information carries out interpolation processing.
For example, for the rotation in the rotation information Q1 and the second adjacent pose trace information in the first pose trace information
For transfering the letter breath Q2, the dot product of Q1 and Q2 can be first calculated, if dot product is negative, illustrates that the angle between Q1 and Q2 is greater than 180
Q2 is then taken and is conjugated as Q2* by the angle of degree, and the interpolation between Q1 and Q2* is optimal interpolation；If dot product is positive, in Q1
Interpolation is carried out between Q2.
For then calculating:
K0=sin ((1.0-t) * atan (sina/cosa))/sina；
K1=sin (t*atan (sina/cosa))/sina；
Wherein cosa is the absolute value of the dot product of Q1 and Q2, sina=sqrt (1-cosa*cosa).
Export result: K0*Q1+K1*Q2 or K0*Q1+K1* (Q2*), so can such interpolation result ensure that quaternary
Several is uniformly distributed.
It is to be appreciated that after completing interpolation operation in the two adjacent bits appearance trace information, the two adjacent bits appearance rail
It may include the pose trace information after one or an interpolation processing between mark information, at this point, can be to the pose track data
It is updated.For example, being inserted into 3 pose trace informations between the first pose trace information and the second pose trace information
It is updated when (the first interpolation pose trace information, the second interpolation pose trace information and third interpolation pose trace information)
The pose track data may include the first pose trace information, the first interpolation pose trace information, the second interpolation pose
Trace information, third interpolation pose trace information and the second pose trace information.
Step 104, believed according to the acceleration of positional information calculation motion model in the updated pose track data
Breath；And the angular velocity information of the motion model is calculated according to rotation information in the updated pose track data.
It is to be appreciated that according to the acceleration of positional information calculation motion model in the updated pose track data
Information a [k] may be expressed as:
V [k]=(p [k+1] p [k])/Δ t；
A [k]=(v [k+1]-v [k])/Δ t；
Wherein, p [k+1], p [k] indicate that the location information in two adjacent bit appearance trace informations, Δ t indicate two adjacent bit appearances
The difference of timestamp in trace information, k are natural number.For example, for pose track data after updating: first pose track
Information, the first interpolation pose trace information, the second interpolation pose trace information, third interpolation pose trace information and the second pose
Trace information, when k is 1, p [k+1], p [k] indicate the position in the first pose trace information and the first interpolation pose trace information
Confidence breath, Δ t indicate the difference of the first pose trace information and the timestamp in the first interpolation pose trace information.
It is to be appreciated that calculating the angle of motion model according to rotation information in the updated pose track data
Velocity information ω may be expressed as:
Wherein, q [k+1], q [k] indicate that the rotation information in two adjacent bit appearance trace informations, Δ t indicate two adjacent bit appearances
The difference of timestamp in trace information, k are natural number.For example, for pose track data after updating: first pose track
Information, the first interpolation pose trace information, the second interpolation pose trace information, third interpolation pose trace information and the second pose
Trace information, when k is 1, q [k+1], q [k] indicate the rotation in the first pose trace information and the first interpolation pose trace information
Transfering the letter breath, Δ t indicate the difference of the first pose trace information and the timestamp in the first interpolation pose trace information.
Step 106, pose map function is executed to the motion model, the motion model is converted into inertia measurement
Motion model under unit coordinate system.
It is to be appreciated that in the entire system, will use three coordinate systems: camera coordinates system F altogetherC, IMU coordinate system FI
And world coordinate system FW.World coordinate system is actual northeast day coordinate system, and in this coordinate system, terrestrial gravitation vector is
(0,0, -9.78) (Shenzhen).And camera coordinates system is connected in the coordinate system on camera for origin during camera displacement,
IMU coordinate system is the coordinate system being connected on IMU in IMU motion process.Because under normal circumstances, IMU and camera are connected
On carrier, there is a fixed homogeneous transform matrix T therebetweenCS, and camera coordinates system and world coordinate system
Between there is also a homogeneous transform matrix TCW.Therefore, the fortune being calculated according to the updated pose track data
Movable model is when the motion model can be applied to IMU, to need to convert the motion model by pose based on camera coordinates
It operates, as will be described motion model and homogeneous transform matrix TCSBe multiplied the movement that can transform under Inertial Measurement Unit coordinate system
Model.
Step 108, noise processed is carried out to the transformed motion model, to generate the corresponding Inertial Measurement Unit
Measurement data.
IMU is a kind of miniature electronic surveying element, and the data measured include random walk error and reading noise,
It is modeled as wiener noise (bias) and white Gaussian noise (noise) respectively.In order to enable the IMU data of emulation are truer,
It joined both noises using algorithm in the IMU data that each frame generates.Algorithm is as follows:
Algorithm: increase noise
Input: the acceleration and angular velocity information of motion model, the method for Gaussian noise, the variance of wiener noise.
Start: generating a randomizer, define the Gaussian distribution model of a standard, be distributed using standard gaussian
Three random numbers are generated, obtain the covariance matrix of 3-axis acceleration using the unit matrix that Gaussian noise variance is multiplied by 3x3, it is high
The vector that this noise is equal to 3 random numbers composition that covariance matrix is multiplied by generation is obtained divided by the algorithm square root of time interval again
It arrives.Wiener noise generates 3 random numbers using a new standard gaussian distribution, then is multiplied by between the time with the variance of wiener noise
Every arithmetic square root be multiplied by three random numbers composition vector, result of product as wiener noise (random walk noise) more
It is new to be worth, on the wiener noise before being added in, form new wiener noise.And the noise generating mode of angular speed and acceleration
Noise generating mode is the same, and the variance of two acceleration is changed into the variance of angular speed.
Specific formula is as follows:
Gaussian noise:
Wiener noise:
So far, i.e., the emulation data of exportable IMU, can be obtained the measurement data of the IMU.
Above-mentioned IMU measurement data generation method can generate the measurement data of IMU according to the pose trace information of camera, keep away
Exempt from the problem of the hardware synchronization problem being related to after IMU and camera and IMU relative mounting location are installed in robot.Separately
Outside, emulation IMU data are generated using the Ground truth that public data collection provides, convenient for testing plus after inertia fusion
Vision inertial algorithm with before without addition inertial sensor data visual odometry algorithm performance change.
Please refer to the illustrative structural schematic diagram of the computer installation of Fig. 2 an embodiment of the present invention.The present embodiment mentions
The computer installation 1 of confession includes memory 405, input/output interface 407, display screen 403, network interface 409 and passes through bus
411 carry out the processor of data exchange with the memory 405, input/output interface 407, network interface 409 and display screen 403
401.Wherein, the input/output interface 407 may connect to mouse and/or keyboard (not shown).The so-called module of the present invention is
The program segment for completing a specific function, the implementation procedure than program more suitable for description software in the processor.
Alleged processor 401 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the processor 401 is the control centre of the computer installation 1, utilizes various interfaces and the entire computer of connection
The various pieces of device 1.
The memory 405 can be used for storing the computer program and/or module, and the processor 401 passes through operation
Or the computer program and/or module being stored in the memory 405 are executed, and call and be stored in memory 405
Data realize the various functions of the computer installation 1.The memory 405 can mainly include storing program area and storage number
According to area, wherein storing program area can application program needed for storage program area, at least one function (for example graphical interfaces is aobvious
Show function etc.) etc.；Storage data area can store according to computer installation use created data (such as audio data, view
Frequency according to etc.) etc..In addition, memory 405 may include high-speed random access memory, it can also include non-volatile memories
Device, such as hard disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure
Digital, SD) card, flash card (Flash Card), at least one disk memory, flush memory device or other volatibility are solid
State memory device.
In the present embodiment, the display screen 403 can be the display screen with touch function, and then provide for the operation of user
It is convenient.The memory 405 can be stored with several program codes, to be executed by the processor 401, and then realize the IMU
The function of measurement data generation system 417.
Illustratively, the computer program can be divided into one or more module/units, one or more
A module is stored in the memory 405, and is executed by the processor 401, to complete the present invention.It is one or more
A module can be the series of computation machine program instruction section that can complete specific function, and the instruction segment is for describing the calculating
Implementation procedure of the machine program in the computer installation 1.For example, the computer program can be divided into as shown in Figure 3
IMU measurement data generate system 417, including acquiring unit 300, interpolating unit 302, computing unit 304, converter unit 306
And processing unit 308, each module/unit concrete function are as follows:
The acquiring unit 300 is for obtaining pose track data, wherein the pose track data includes several poses
Trace information, each pose trace information include location information and rotation information.
It is to be appreciated that settable camera in robot, with poses such as the motion profile and the motion states that obtain robot
Data.The camera can have the track (the Ground truth that its data set may be from) of six degree of freedom.The pose data
It can be stored in pose trail file or be stored in pose track database, therefore, the acquiring unit 300 can obtain institute
It can be obtained out of corresponding pose trail file or database when rheme appearance track data.Preferably, the pose track data
It may include based on pose trace information, each pose trace information may include position timestamp, location information and rotation information etc.
Information.Specifically, the data type of the timestamp can be double precision (double type)；The location information can correspond to three certainly
By the position spent, can have there are three type double precision；The rotation information can correspond to the rotation information of Three Degree Of Freedom, can have four
A type double precision indicates that representation can are as follows: w+xi+yj+zk wherein the rotation information can be quaternary number.
For example, timestamp can for a pose trace information are as follows: 1305031102.211214, in the location information
First position, the second position and the third place may respectively be -0.001420095,0.007655886,0.010920254；It is described
Quaternary number x, quaternary number y, quaternary number z and quaternary number w may respectively be in rotation information: -0.001964978, -
0.003080067、-0.001635573、0.999992013。
The interpolating unit 302 is used to carry out interpolation processing to two adjacent bit appearance trace informations, to obtain one or more
The pose trace information after interpolation processing between the two adjacent bits appearance trace information, and update pose track number
According to.
In one embodiment, the interpolating unit 302 can be according to the frequency of Inertial Measurement Unit to two adjacent bit
Appearance trace information carries out interpolation processing.The frequency of IMU DATA REASONING is generally higher than camera measurement frequency, some up to 5 times with
On.For example, the measurement frequency of camera is 30Hz or so, the frequency of IMU measurement can be in 200Hz or so.In other embodiments,
Interpolation processing can be carried out (by believing in the two adjacent bits appearance track to the two adjacent bits appearance trace information otherwise
The pose trace information of fixed quantity is inserted into breath).
In one embodiment, camera measurement can be calculated by the timestamp to camera in the interpolating unit 302
Frequency.For example, may include the first pose trace information, the second pose trace information, third position in the pose track data
Appearance trace information and the 4th pose trace information.The measurement frequency of the camera can according in the unit time (such as 1 second) in as described in
The quantity of the record of pose trace information described in pose track data, thus, corresponding to two adjacent bit appearance track datas
When time interval difference (difference of the timestamp of two adjacent bit appearance track datas is represented by time interval), in two adjacent bit appearance rails
The quantity for the pose trace information being inserted into mark data may be different.In other embodiments, the measurement frequency of institute's camera
Also it can obtain by other means, the relevant parameter of camera as described in obtaining.
Preferably, the interpolating unit 302 can be according to the inertia measurement list after measurement frequency confirmation of the camera
The frequency of member to carry out interpolation processing to two adjacent bit appearance trace informations.For example, the interpolating unit 302 can be at described first
N number of pose trace information is inserted between appearance trace information and the second pose trace information, the interpolating unit 302 can be described second
M pose trace information is inserted between pose trace information and third pose trace information, the interpolating unit 302 can be described the
P pose trace information is inserted between three pose trace informations and the 4th pose trace information.It is to be appreciated that the inertia measurement
The frequency of unit, which can be stored in, to be prepared in file, in this way, the Inertial Measurement Unit can be obtained by the preparation file
Frequency.
It is to be appreciated that carrying out interpolation processing in the two adjacent bits appearance trace information may include inserting to location information
Value processing and the interpolation processing to rotation information.
Preferably, in the interpolation processing to location information, if time interval between the two adjacent bits appearance trace information
Within a preset range (such as in 0.03s), indicate that the motion change of robot or carrier is not violent, the interpolating unit 302 can be with
The pose trace information of multiple virtual cameras between two adjacent bit appearance trace informations is extrapolated using interpolation algorithm.
For the Three Degree Of Freedom pose information of camera, interpolation operation is completed using linear interpolation algorithm, as follows:
Y=ty0+(1-t)y1
Wherein, t is arranged between section [0,1], y0Indicate corresponding first time in the two adjacent bits appearance trace information
The pose trace information of stamp, y1Indicate the pose trace information of corresponding second timestamp in the two adjacent bits appearance trace information,
Wherein the first time stamp can be earlier than the second timestamp, so, it is ensured that interpolation result is in y0With y1Between.It is more by being arranged
A t can obtain multiple interpolation results.For example, being inserted between the first pose trace information and the second pose trace information
N number of pose trace information, the t can be N；M are inserted between the second pose trace information and third pose trace information
Pose trace information, the t can be M.Timestamp in pose trace information can be also determined based on above-mentioned formula, such as
By y in above-mentioned formula0And y1It is substituted in the timestamp and the second pose trace information in the corresponding first pose trace information
Timestamp.
It is to be appreciated that other than linear interpolation, when the motion change of camera is more violent, the interpolating unit
302 can carry out interpolation arithmetic using polynomial function, and this interpolation arithmetic can simulate polynomial function variation.
Preferably, spherical surface interpolation algorithm can be used in the interpolating unit 302 in the interpolation processing to rotation information.By
In the quaternary number of rotation information is distributed across manifold space (such as space spherical surface), it is not closed, institute to signed magnitude arithmetic(al)
With using simple linear interpolation the result is that non-uniform, it cannot guarantee that it is still unit quaternion.Therefore, described to insert
Value cell 302 can carry out interpolation processing to rotation information by spherical surface interpolation method.
For example, for the rotation in the rotation information Q1 and the second adjacent pose trace information in the first pose trace information
For transfering the letter breath Q2, the dot product of Q1 and Q2 can be first calculated, if dot product is negative, illustrates that the angle between Q1 and Q2 is greater than 180
Q2 is then taken and is conjugated as Q2* by the angle of degree, and the interpolation between Q1 and Q2* is optimal interpolation；If dot product is positive, in Q1
Interpolation is carried out between Q2.
For then calculating:
K0=sin ((1.0-t) * atan (sina/cosa))/sina；
K1=sin (t*atan (sina/cosa))/sina；
Wherein cosa is the absolute value of the dot product of Q1 and Q2, sina=sqrt (1-cosa*cosa).
Export result: K0*Q1+K1*Q2 or K0*Q1+K1* (Q2*), so can such interpolation result ensure that quaternary
Several is uniformly distributed.
It is to be appreciated that after completing interpolation operation in the two adjacent bits appearance trace information, the two adjacent bits appearance rail
It may include the pose trace information after one or an interpolation processing between mark information, at this point, can be to the pose track data
It is updated.For example, being inserted into 3 pose trace informations between the first pose trace information and the second pose trace information
It is updated when (the first interpolation pose trace information, the second interpolation pose trace information and third interpolation pose trace information)
The pose track data may include the first pose trace information, the first interpolation pose trace information, the second interpolation pose
Trace information, third interpolation pose trace information and the second pose trace information.
The computing unit 304 can be according to positional information calculation motion model in the updated pose track data
Acceleration information；And the angular speed letter of motion model is calculated according to rotation information in the updated pose track data
Breath.
It is to be appreciated that the computing unit 304 can be according to location information meter in the updated pose track data
The acceleration information a [k] for calculating motion model may be expressed as:
V [k]=(p [k+1]-p [k])/Δ t；
A [k]=(v [k+1]-v [k])/Δ t；
Wherein, p [k+1], p [k] indicate that the location information in two adjacent bit appearance trace informations, Δ t indicate two adjacent bit appearances
The difference of timestamp in trace information, k are natural number.For example, for pose track data after updating: first pose track
Information, the first interpolation pose trace information, the second interpolation pose trace information, third interpolation pose trace information and the second pose
Trace information, when k is 1, p [k+1], p [k] indicate the position in the first pose trace information and the first interpolation pose trace information
Confidence breath, Δ t indicate the difference of the first pose trace information and the timestamp in the first interpolation pose trace information.
It is to be appreciated that the computing unit 304 can be according to rotation information institute in the updated pose track data
The angular velocity information ω for stating calculating motion model may be expressed as:
Wherein, q [k+1], q [k] indicate that the rotation information in two adjacent bit appearance trace informations, Δ t indicate two adjacent bit appearances
The difference of timestamp in trace information, k are natural number.For example, for pose track data after updating: first pose track
Information, the first interpolation pose trace information, the second interpolation pose trace information, third interpolation pose trace information and the second pose
Trace information, when k is 1, q [k+1], q [k] indicate the rotation in the first pose trace information and the first interpolation pose trace information
Transfering the letter breath, Δ t indicate the difference of the first pose trace information and the timestamp in the first interpolation pose trace information.
The converter unit 306 can execute pose map function to the motion model, and the motion model is converted
Motion model to Inertial Measurement Unit coordinate system.
It is to be appreciated that in the entire system, will use three coordinate systems: camera coordinates system F altogetherC, IMU coordinate system FI
And world coordinate system FW.World coordinate system is actual northeast day coordinate system, and in this coordinate system, terrestrial gravitation vector is
(0,0, -9.78) (Shenzhen).And camera coordinates system is connected in the coordinate system on camera for origin during camera displacement,
IMU coordinate system is the coordinate system being connected on IMU in IMU motion process.Because under normal circumstances, IMU and camera are connected
On carrier, there is a fixed homogeneous transform matrix T therebetweenCS, and camera coordinates system and world coordinate system
Between there is also a homogeneous transform matrix TCW.Therefore, the fortune being calculated according to the updated pose track data
Movable model is when the motion model can be applied to IMU, to need to convert the motion model by pose based on camera coordinates
Operation, such as converter unit 306 can be by the motion model and homogeneous transform matrix TCSIt is multiplied and can transform to inertia measurement
Motion model under unit coordinate system.
The processing unit 308 can carry out noise processed to the transformed motion model, corresponding described used to generate
Property measuring unit measurement data, and then achieve the purpose that improve measurement data accuracy.In other embodiments, the place
Reason unit 308 can also omit.
IMU is a kind of miniature electronic surveying element, and the data measured include random walk error and reading noise,
It is modeled as wiener noise (bias) and white Gaussian noise (noise) respectively.In order to enable the IMU data of emulation are truer,
It joined both noises using algorithm in the IMU data that each frame generates.Algorithm is as follows:
Algorithm: increase noise
Input: the acceleration and angular velocity information of motion model, the method for Gaussian noise, the variance of wiener noise.
Start: generating a randomizer, define the Gaussian distribution model of a standard, be distributed using standard gaussian
Three random numbers are generated, obtain the covariance matrix of 3-axis acceleration using the unit matrix that Gaussian noise variance is multiplied by 3x3, it is high
The vector that this noise is equal to 3 random numbers composition that covariance matrix is multiplied by generation is obtained divided by the algorithm square root of time interval again
It arrives.Wiener noise generates 3 random numbers using a new standard gaussian distribution, then is multiplied by between the time with the variance of wiener noise
Every arithmetic square root be multiplied by three random numbers composition vector, result of product as wiener noise (random walk noise) more
It is new to be worth, on the wiener noise before being added in, form new wiener noise.And the noise generating mode of angular speed and acceleration
Noise generating mode is the same, and the variance of two acceleration is changed into the variance of angular speed.
Specific formula is as follows:
Gaussian noise:
Wiener noise:
So far, i.e., the emulation data of exportable IMU, can be obtained the measurement data of the IMU.
Above-mentioned IMU measurement data generates system can generate the measurement data of IMU according to the pose trace information of camera, keep away
Exempt from the problem of the hardware synchronization problem being related to after IMU and camera and IMU relative mounting location are installed in robot.Separately
Outside, emulation IMU data are generated using the Ground truth that public data collection provides, convenient for testing plus after inertia fusion
Vision inertial algorithm with before without addition inertial sensor data visual odometry algorithm performance change.
If the integrated module of computer installation 1 of the present invention is realized in the form of SFU software functional unit and as independence
Product when selling or using, can store in a computer readable storage medium.Based on this understanding, of the invention
It realizes all or part of the process in the method for controlling volume of the respective embodiments described above, can also be instructed by computer program
Relevant hardware is completed, and the computer program can be stored in a computer readable storage medium, the computer program
When being executed by processor, it can be achieved that step in the method for controlling volume of the respective embodiments described above.Wherein, the computer journey
Sequence includes computer program code, and the computer program code can be source code form, object identification code form, executable text
Part or certain intermediate forms etc..The computer-readable medium may include: that can carry appointing for the computer program code
What entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunications letter
Number and software distribution medium etc..It should be noted that the content that the computer-readable medium includes can be managed according to the administration of justice
Local legislation and the requirement of patent practice carry out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent
Practice, computer-readable medium does not include electric carrier signal and telecommunication signal.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included in the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.This
Outside, it is clear that one word of " comprising " does not exclude other units or steps, and odd number is not excluded for plural number.System, device or mobile terminal apparatus
Multiple units, module or the device stated in claim can also by the same unit, module or device by software or
Hardware is realized.The first, the second equal words are used to indicate names, and are not indicated any particular order.
Embodiment of above is only used to illustrate the technical scheme of the present invention and not to limit it, although referring to the above preferable embodiment party
Formula describes the invention in detail, those skilled in the art should understand that, it can be to technical solution of the present invention
It modifies or equivalent replacement should not all be detached from the spirit and scope of technical solution of the present invention.
Claims (10)
1. a kind of IMU measurement data generation method, which is characterized in that the described method includes:
Pose track data is obtained, wherein the pose track data includes several pose trace informations, each pose track letter
Breath includes location information and rotation information；
Interpolation processing is carried out to two adjacent bit appearance trace informations, it is one or more positioned at two adjacent bits appearance track letter to obtain
Pose trace information after interpolation processing between breath, and update the pose track data；
According to the acceleration information of positional information calculation motion model in the updated pose track data；And according to update
Rotation information calculates the angular velocity information of the motion model in the pose track data afterwards；
Pose map function is executed to the motion model, the motion model is converted under Inertial Measurement Unit coordinate system
Motion model.
2. IMU measurement data generation method as described in claim 1, which is characterized in that described to believe two adjacent bit appearance tracks
Breath carries out interpolation processing
Interpolation processing is carried out to the two adjacent bits appearance trace information according to the frequency of Inertial Measurement Unit.
3. IMU measurement data generation method as described in claim 1, which is characterized in that described to believe two adjacent bit appearance tracks
Breath carries out interpolation processing
Interpolation operation is carried out to the location information in the two adjacent bits appearance trace information using linear interpolation algorithm；
Interpolation operation is carried out to the rotation information in the two adjacent bits appearance trace information using spherical surface interpolation.
4. IMU measurement data generation method as described in claim 1, which is characterized in that described to believe two adjacent bit appearance tracks
Breath carries out interpolation processing
Interpolation operation is carried out to the location information in the two adjacent bits appearance trace information using polynomial function algorithm；
Interpolation operation is carried out to the rotation information in the two adjacent bits appearance trace information using spherical surface interpolation.
5. IMU measurement data generation method as described in claim 3 or 4, which is characterized in that described to utilize spherical surface interpolation to institute
It states rotation information in two adjacent bit appearance trace informations and carries out interpolation operation and include:
Judge rotation information in the first pose trace information and the rotation information dot product in the second pose trace information whether be
It is negative, wherein the two-phase ortho position appearance trace information includes the first pose trace information and the second pose trace information；
When the dot product is negative, in the rotation information and the second pose trace information in the first pose trace information
Interpolation operation is carried out between the conjugation of rotation information；
When the dot product is timing, in the rotation information and the second pose trace information in the first pose trace information
Interpolation operation is carried out between rotation information.
6. IMU measurement data generation method as described in claim 1, which is characterized in that described to be executed to the motion model
Pose map function includes:
The motion model is multiplied with homogeneous transform matrix, to obtain the movement mould under the Inertial Measurement Unit coordinate system
Type.
7. the IMU measurement data generation method as described in any one of claim 1-6, which is characterized in that the method is also
Include:
Noise processed is carried out to the transformed motion model, to generate the measurement data of the corresponding Inertial Measurement Unit.
8. a kind of IMU measurement data generates system, which is characterized in that the system comprises:
Acquiring unit, for obtaining pose track data, wherein the pose track data includes several pose trace informations, often
One pose trace information includes location information and rotation information；
Interpolating unit, it is one or more positioned at described two to obtain for carrying out interpolation processing to two adjacent bit appearance trace informations
The pose trace information after interpolation processing between adjacent pose trace information, and update the pose track data；
Computing unit, for being believed according to the acceleration of positional information calculation motion model in the updated pose track data
Breath；And the angular velocity information of motion model is calculated according to rotation information in the updated pose track data；
The motion model is converted into inertia and surveyed by converter unit for executing pose map function to the motion model
Measure the motion model under unit coordinate system.
9. a kind of computer installation, which is characterized in that the computer installation includes processor, and the processor is deposited for executing
The IMU measurement data generation method as described in any one of claim 1-7 is realized when the computer program stored in reservoir
The step of.
10. a kind of readable storage medium storing program for executing, is stored thereon with computer program, which is characterized in that the computer program is processed
The step of IMU measurement data generation method as described in any one of claim 1-7 is realized when device executes.
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