CN110378968A - The scaling method and device of camera and Inertial Measurement Unit relative attitude - Google Patents
The scaling method and device of camera and Inertial Measurement Unit relative attitude Download PDFInfo
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- CN110378968A CN110378968A CN201910547763.0A CN201910547763A CN110378968A CN 110378968 A CN110378968 A CN 110378968A CN 201910547763 A CN201910547763 A CN 201910547763A CN 110378968 A CN110378968 A CN 110378968A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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Abstract
The present invention is suitable for calibration technique field, provides the scaling method and device of a kind of camera and Inertial Measurement Unit relative attitude, which comprises carry out internal reference calibration respectively to camera and Inertial Measurement Unit；The camera and the Inertial Measurement Unit are all set in mechanical arm；Driving mechanical arm carries the camera and the Inertial Measurement Unit is moved with desired guiding trajectory, and acquires the first image data of scaling board by the camera simultaneously and acquire the first Inertial Measurement Unit data by the Inertial Measurement Unit；When the camera is Rolling shutter camera, roller shutter calibration is carried out to the camera and obtains corresponding parameter value, when the parameter value is when within the first preset range, according to the first image data and the first Inertial Measurement Unit data, the relatively outer ginseng of the camera and the Inertial Measurement Unit is calculated.Method provided by the invention improves the accuracy demarcated to the relative attitude of camera and IMU.
Description
Technical field
The present invention relates to calibration technique field more particularly to the calibration sides of a kind of camera and Inertial Measurement Unit relative attitude
Method and device.
Background technique
Synchronous positioning with build figure (simultaneous localization and mapping, SLAM), unmanned plane is led
In the fields such as boat, motion-captured and augmented reality, often by camera and Inertial Measurement Unit (International
Mathematical Union, IMU) be bundled in a moving object, by the fusion to the two information, determine one compared with
Accurate pose.Since the coordinate system of IMU and the coordinate system of camera are there are certain deviation, cause to exist between IMU and camera
Certain posture relationship.Therefore, it is necessary to demarcate to the posture relationship between IMU and camera.
How the easy posture relationship accurately sought between IMU and camera becomes current urgent problem to be solved.
Summary of the invention
In view of this, the embodiment of the invention provides the scaling method of a kind of camera and Inertial Measurement Unit relative attitude and
Device, to solve the technical issues of how accurately seeking the posture relationship between IMU and camera.
The first aspect of the embodiment of the present invention provides the scaling method of a kind of camera and Inertial Measurement Unit relative attitude,
Include:
Internal reference calibration is carried out respectively to camera and Inertial Measurement Unit；The camera and the Inertial Measurement Unit are respectively provided with
In mechanical arm；
Driving mechanical arm carries the camera and the Inertial Measurement Unit is moved with desired guiding trajectory, and simultaneously by described
Camera acquires the first image data of scaling board and acquires the first Inertial Measurement Unit data by the Inertial Measurement Unit；
When the camera is Rolling shutter camera, roller shutter calibration is carried out to the camera and obtains corresponding parameter value,
When the parameter value is when within the first preset range, according to the first image data and the first Inertial Measurement Unit number
According to calculating the relatively outer ginseng of the camera and the Inertial Measurement Unit.
The second aspect of the embodiment of the present invention provides the caliberating device of a kind of camera and Inertial Measurement Unit relative attitude,
Include:
Internal reference demarcating module, for carrying out internal reference calibration respectively to camera and Inertial Measurement Unit；The camera and described
Inertial Measurement Unit is all set in mechanical arm；
Driving and acquisition execution module, for driving mechanical arm to carry the camera and the Inertial Measurement Unit with default
Track movement, and the first image data of scaling board is acquired by the camera simultaneously and is adopted by the Inertial Measurement Unit
Collect the first Inertial Measurement Unit data；
Join demarcating module outside first, for carrying out roller shutter mark to the camera when the camera is Rolling shutter camera
Determine and obtain corresponding parameter value, when the parameter value is when within the first preset range, according to the first image data and
The first Inertial Measurement Unit data calculate the relatively outer ginseng of the camera and the Inertial Measurement Unit.
The third aspect of the embodiment of the present invention provides a kind of terminal device, including memory and processor, described to deposit
The computer program that can be run on the processor is stored in reservoir, when the processor executes the computer program,
The step of realizing method as described in relation to the first aspect.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, and the step of method as described in relation to the first aspect is realized when the computer program is executed by processor
Suddenly.
In the embodiment of the present invention, by carrying out internal reference calibration respectively to camera and Inertial Measurement Unit；The camera and institute
It states Inertial Measurement Unit and is all set in mechanical arm；Then driving mechanical arm carries the camera and the Inertial Measurement Unit with pre-
If track moves, and acquires the first image data of scaling board by the camera simultaneously and pass through the Inertial Measurement Unit
Acquire the first Inertial Measurement Unit data；When the camera is Rolling shutter camera, roller shutter calibration is carried out simultaneously to the camera
Corresponding parameter value is obtained, when the parameter value is when within the first preset range, according to the first image data and described
First Inertial Measurement Unit data calculate the relatively outer ginseng of the camera and the Inertial Measurement Unit.The embodiment of the present invention mentions
The step of method of confession increases when camera is Rolling shutter camera, carries out roller shutter calibration, in addition, when roller shutter calibration is corresponding
Parameter value when within the first preset range, then calculate the relatively outer ginseng of camera and IMU, therefore method provided by the invention is beaten
Broken the limitation of the prior art, method provided by the invention improve the relatively outer ginseng of camera and IMU is demarcated it is accurate
Property.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of realization of the scaling method of camera and Inertial Measurement Unit relative attitude provided in an embodiment of the present invention
Flow chart；
Fig. 2 is a kind of signal of the calibration system of camera and Inertial Measurement Unit relative attitude provided in an embodiment of the present invention
Figure；
Fig. 3 is a kind of implementation flow chart of camera internal reference phase scaling method provided in an embodiment of the present invention；
Fig. 4 is a kind of implementation flow chart of Inertial Measurement Unit internal reference scaling method provided in an embodiment of the present invention；
Fig. 5 is the implementation flow chart of another Inertial Measurement Unit internal reference scaling method provided in an embodiment of the present invention；
Fig. 6 is a kind of Allan standard deviation schematic diagram provided in an embodiment of the present invention；
Fig. 7 is the reality of the scaling method of another camera and Inertial Measurement Unit relative attitude provided in an embodiment of the present invention
Existing flow chart；
Fig. 8 is a kind of structure of the caliberating device of camera and Inertial Measurement Unit relative attitude provided in an embodiment of the present invention
Block diagram；
Fig. 9 is the schematic diagram of terminal device provided in an embodiment of the present invention.
Specific embodiment
In order to illustrate technical solutions according to the invention, it is illustrated below with reference to the accompanying drawings and in conjunction with the embodiments.
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention carry out clear, are fully described by, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, skill common for this field
For art personnel, without any creative labor, this hair is all should belong in every other embodiment obtained
The range of bright protection.It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can
To be combined with each other.
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be to be wiredly connected to another element or be wirelessly connected on another element, connection is used for data transmitting effect.
In addition, " first " or " second " etc. involved in the term in specification of the invention, claims and attached drawing
Description be only used for distinguishing similar object, be not understood to indicate or imply its relative importance or implicitly indicate meaning
The quantity of the technical characteristic shown, that is to say, that these descriptions are not necessarily used for describing specific sequence or precedence.In addition, answering
These descriptions of the understanding are interchangeable under appropriate circumstances, to describe the embodiment of the present invention.
Fig. 1 shows the implementation process of the scaling method of camera and IMU relative attitude provided in an embodiment of the present invention, the party
Method process includes step S101 to S103.This method is suitable for the situation demarcated to camera and IMU relative attitude.This method
It is executed by the caliberating device of camera and IMU relative attitude, the caliberating device of the camera and IMU relative attitude is configured at terminal and sets
It is standby, it can be implemented by software and/or hardware.The specific implementation principle of each step is as follows.
S101 carries out internal reference calibration to camera and IMU respectively.
In practical applications, as a non-limitative illustration, due to camera be normally mounted in use with IMU it is same
On printed circuit board (Printed Circuit Board, PCB), pcb board is mounted on removable (including translate and rotate) terminal
On, to ensure that two sensors positional relationship under world coordinate system is determining.Terminal can be mobile phone, it is tablet computer, a
Personal digital assistant and wearable device (such as glasses, wrist-watch and bracelet) etc..
Therefore, in embodiments of the present invention, the camera and the Inertial Measurement Unit are all set in mechanical arm, mechanical arm
It can be rotated around X-axis, Y-axis and Z axis, by exterior terminal device drives to adapt to practical application scene.It please join
It examines shown in Fig. 2, a kind of camera and Inertial Measurement Unit relative attitude of scaling method provided in an embodiment of the present invention as shown in Figure 2
Calibration system realize that calibration system includes mechanical arm 210, camera 211, IMU212 and terminal device 213, wherein phase
Machine 211 and IMU212 are all set in mechanical arm 210, and terminal device 213 is separately connected mechanical arm 210, camera 211 and IMU212.
The specific structure of calibration system and terminal device will be described in detail in subsequent embodiment, and details are not described herein again.
In embodiments of the present invention, before the relatively outer ginseng of calibration for cameras and IMU, terminal device is needed in camera
The internal reference of ginseng and IMU are demarcated.
In general, the internal reference of camera, also referred to as Intrinsic Matrix, including picture centre coordinate, focal length and lens distortion ginseng
Number etc..IMU is the device for measuring object triaxial attitude angle (or angular speed) and acceleration, it may include multi-axial accelerometer
With multiaxis gyroscope etc., internal reference refers generally to systematic error and random error, and relatively common random error has white Gaussian noise
With random walk noise.
In embodiments of the present invention, the method for carrying out internal reference calibration to camera includes but is not limited to Linear Camaera Calibrating Method, non-
Linear optimization scaling method and two-stage calibration method etc., wherein two-stage calibration method includes the classical two-step method and Zhang Zhengyou of Tsai
Scaling method.
As a non-limiting example of the invention, a kind of pair of camera carries out the process of the method for internal reference calibration as shown in Figure 3
Figure, below to how the internal reference of calibration for cameras describes, includes the following steps 301 to 302.
S301, driving mechanical arm carries camera and rotates multiple angles, and acquires scaling board under multiple angles by camera
The second image data.
Wherein, the scaling board with calibration pattern is fixed in a certain plane in front of mechanical arm, mechanical arm can be around X
Axis, Y-axis and Z axis are rotated, and mechanical arm tail end rotation can be more than 360 degree, so that camera can be under multiple and different angles
Uncalibrated image is acquired, in order to improve the robustness of image data, general 10 to the 20 width uncalibrated images that acquire are than convenient.In order to
Static uncalibrated image is collected under certain angle, can be when mechanical arm be rotated to certain angle, first static a bit of time, such as
500ms is then turned on after making camera is totally stationary to get off.
It is understood that in order to cover the entire field of camera, it should adaptively be set to the size of scaling board
Meter, generally takes small size scaling board, and scaling board also should be suitable at a distance from camera, such as 3m or so, certainly, is acquiring
During uncalibrated image, the distance of camera to scaling board be can change.Wherein, it in the design process of scaling board, answers
This will ensure its precision and flatness.In an implementation example, aluminium oxide scaling board is can be used in scaling board, and precision is reachable
0.01mm；Implement in example at another, using the scaling board of photoetching, precision is up to 0.001mm.
S302 calculates the phase using the angle point of second image data extraction and the parameter attribute of the scaling board
The internal reference of machine.
Wherein, the parameter attribute of the scaling board includes but is not limited to the practical side length of scaling board.Utilize the multiple groups figure
The practical side length of the angle point and the scaling board that extract as data calculates the internal reference of the camera.
It is understood that above-mentioned camera can be monocular camera, binocular camera, depth camera or infrared camera etc..Such as
Fruit is binocular camera, other than calculating its internal reference, also to calculate the position transition matrix of two cameras.
As a non-limiting example of the invention, it is illustrated in figure 4 the method flow diagram that internal reference calibration is carried out to IMU, under
Internal reference in face of how to demarcate IMU is described, and includes the following steps 401 to 402.
S401, when Inertial Measurement Unit remains static, when acquiring default acquisition by the Inertial Measurement Unit
The second Inertial Measurement Unit data under long t.
Wherein, when Inertial Measurement Unit remains static, with sampling time interval t0Acquire IMU data, it is assumed that pre-
If M IMU data are collected altogether under acquisition duration t, then t=Mt0。
Default acquisition duration t is empirical value, can according to need and is selected.Enough data in order to obtain, and
Improve the robustness of data, default acquisition duration t be set as two it is more than hour proper.
S402 carries out Allan variance analysis to the second Inertial Measurement Unit data and obtains the Inertial Measurement Unit
Error parameter.
In the present embodiment, error modeling is carried out to IMU data using Allan variance analysis method, obtains the error of IMU
Parameter.Wherein, error parameter includes random error parameter, and random error parameter includes but is not limited to white Gaussian noise and random trip
Walk noise etc..
Specifically, it please refers to shown in Fig. 5, step 402 includes the following steps 501 to 504.
The second Inertial Measurement Unit data are divided into N group by S501, calculate every group described in the second Inertial Measurement Unit
The mean value of data；
S502, according to the mean value computation Allan variances sigma2(T)；Wherein, T is every group of second Inertial Measurement Unit data
Time span, T=t/N；
S503, according to the Allan variances sigma2(T) Allan standard deviation sigma (T) is calculated；
S504, the double logarithmic curve for making Allan standard deviation sigma (T) and the time span T obtain error parameter.
In the present embodiment, M IMU data are divided into N group, every group includes M/N data, the time of every group of IMU data
Span is T=t/N, first calculates the mean value of every group of IMU data, then according to mean value computation Allan variances sigma2(T), according to variance
It calculates Allan standard deviation sigma (T), the double logarithmic curve for making Allan standard deviation sigma (T) and the time span T obtains error parameter.
It is illustrated in figure 6 Allan standard deviation figure, illustratively, slope is -1/2 straight line in time span T=1 in Allan standard deviation figure
Corresponding numerical value represents white Gaussian noise, and slope represents random walk in the corresponding numerical value of time span T=3 for+1/2 straight line and makes an uproar
Sound.
S102, driving mechanical arm carries the camera and the Inertial Measurement Unit is moved with desired guiding trajectory, and leads to simultaneously
It crosses the first image data of the camera acquisition scaling board and the first inertia measurement list is acquired by the Inertial Measurement Unit
Metadata.
Wherein, in order to sufficiently motivate each axis of IMU, that is to say, that so that IMU is translated and rotated, desired guiding trajectory is answered
This to be designed to so that mechanical arm carries IMU and adequately translated and rotated.Since scaling board is static, two sensors
Opposite its is movement, so the uncalibrated image in order to avoid acquisition is fuzzy, the movement velocity of mechanical arm should be designed rationally, both
Cannot be too fast, while guaranteeing that the acceleration and angular speed of manipulator motion all cannot be too small again, in order to avoid it is unable to fully excitation IMU
Each axis.It is understood that obscuring to reduce image, especially roller shutter camera is fuzzy, it usually needs reduces image
Time for exposure improves ambient lighting simultaneously, such as uses the highlighted uniform external light source of height.
S103 carries out roller shutter calibration to the camera and obtains corresponding ginseng when the camera is Rolling shutter camera
Numerical value, when the parameter value is when within the first preset range, according to the first image data and first inertia measurement
Cell data calculates the relatively outer ginseng of the camera and the Inertial Measurement Unit.
Wherein, when camera is Rolling shutter camera, roller shutter calibration is carried out to it and obtains corresponding parametric values, and judges institute
Parameter value is stated whether within the first preset range；When parameter value is when within the first preset range, according to image data and used
Property measuring unit data, calculate the relatively outer ginseng of camera and Inertial Measurement Unit.It should be noted that when parameter value is not described
When within the first preset range, miscue is carried out.
It is understood that the common two kinds of exposure modes of camera include global exposure (Global Shutter) and roller shutter
Exposure mode (Rolling Shutter).It is exposed relative to the overall situation, all pixels point of photosensitive element exposes a timing simultaneously
Between, and then be imaged, all pixels point of the photosensitive element of roller shutter exposure exposes certain time, exposure a line output one in turn line by line
Row, and then be imaged.And shot with Rolling shutter mode, progressive scan speed is inadequate, and shooting result may occur
Any case such as " inclinations ", " unsteadiness " or " Partial exposure ".This Rolling shutter mode shoots showing for appearance
As being just defined as jelly effect.
Therefore, before the relatively outer ginseng to camera and IMU is demarcated, if it is roller shutter camera, it is also necessary to its into
The calibration of row roller shutter.In a non-limiting embodiment of the invention, roller shutter calibration is the time for demarcating exposure a line of roller shutter camera
(readout time), and it is compared with the first preset range, to judge whether it legalizes, that is, judge its whether
Within first preset range, if within the first range, it is legal, wherein the first preset range is empirical value, it can be according to need
It is configured.If legal, continue to demarcate the relatively outer ginseng of camera and IMU.It should be noted that if calibration
Readout time it is illegal, then carry out miscue, that is to say, that once have jelly effect, so that it may detect in time
Come, and carries out miscue.
It should be noted that according to the first image data and the first Inertial Measurement Unit data, camera and IMU are calculated
During relatively outer ginseng, due to the frequency acquisition of camera and IMU be it is different, the frequency acquisition of IMU is higher, and camera is adopted
It is lower to collect frequency.Mechanical arm is stopped with the t2 moment at the t1 moment of desired guiding trajectory setting in motion to stop motion, during this period of time,
Assuming that camera is 20Hz to the sampling frame per second of image information during shooting video data, i.e., camera is in shooting video data
When each second shooting image frame number be 20.At the same time, IMU is with the posture information of the frequency collection of 200Hz itself, i.e. IMU
With the rate-adaptive pacemaker measurement result of 200HZ, that is to say, that in same time period, the number of image frames of camera shooting is few, and IMU is defeated
Measurement result quantity out is more, thus cannot the IMU data simply to t1 to t2 moment disposably integrate.In order to ensure
The IMU data and uncalibrated image integrated were acquired in the same period, and following two mode can be taken.
First is that the method that IMU takes pre-integration only integrates the IMU data at two image moment, such as
The first picture frame for being separated by default frame number in video data and second first time of exposure of picture frame are to the second of the second picture frame
In the period of the time of exposure, IMU data are integrated, wherein the first picture frame and the second picture frame can be it is adjacent
It can be non-conterminous.
Second is that the timestamp and IMU of recording every group of picture return to the time of every group of data using system time as reference
Stamp finds time difference the smallest IMU data corresponding thereto according to the timestamp of every group of picture.Due to the time be it is linearly increasing,
In the case where IMU acquires data prior to camera, theoretically every group of picture can find corresponding IMU data.
In the embodiment of the present invention, the step of increasing when camera is Rolling shutter camera, carry out roller shutter calibration, in addition,
When roller shutter demarcates corresponding parameter value when within the first preset range, then camera and the relatively outer ginseng of IMU are calculated, therefore this hair
The method of bright offer has broken the limitation of the prior art, and method provided by the invention improves the relatively outer ginseng to camera and IMU
The accuracy demarcated.That is, the step of increasing a roller shutter calibration for roller shutter camera, prevents jelly effect
It answers, improves the accuracy for carrying out relative attitude calibration to camera and IMU.
On the basis of previous embodiment, Fig. 7 shows the calibration of another camera and Inertial Measurement Unit relative attitude
The implementation flow chart of method.As shown in fig. 7, increasing the situation that camera is global shutter camera in the embodiment shown in fig. 7.It needs
It is noted that details are not described herein again for the step identical as previous embodiment, refer to aforementioned.
S701 carries out internal reference calibration, the camera and the Inertial Measurement Unit to camera and Inertial Measurement Unit respectively
It is all set in mechanical arm.
S702, driving mechanical arm carries the camera and the Inertial Measurement Unit is moved with desired guiding trajectory, and leads to simultaneously
It crosses the first image data of the camera acquisition scaling board and the first inertia measurement list is acquired by the Inertial Measurement Unit
Metadata.
S703 judges whether to carry out roller shutter calibration to camera according to camera type.
S704 carries out roller shutter calibration to the camera and obtains corresponding ginseng when the camera is Rolling shutter camera
Numerical value, when the parameter value is when within the first preset range, according to the first image data and first inertia measurement
Cell data calculates the relatively outer ginseng of the camera and the Inertial Measurement Unit.
S705 is surveyed when the camera is global shutter camera according to the first image data and first inertia
Cell data is measured, the relatively outer ginseng of the camera and the Inertial Measurement Unit is calculated.
Wherein, according to camera type, judge whether to carry out roller shutter calibration to camera.When camera is global shutter camera,
Roller shutter calibration is not carried out to it, and according to the first image data and the first Inertial Measurement Unit data, calculates camera and inertia is surveyed
Measure the relatively outer ginseng of unit；When camera is Rolling shutter camera, roller shutter calibration is carried out to it and obtains corresponding parametric values, and is sentenced
Whether the parameter value that breaks is in the first preset range；When parameter value is in the first preset range, according to image data and it is used to
Property measuring unit data, calculate the relatively outer ginseng of camera and Inertial Measurement Unit.
It should be noted that terminal device obtains the performance parameter of camera in advance, it include that can characterize in performance parameter
The performance parameter of camera type, thus terminal device can judge whether to carry out roller shutter calibration to camera according to camera type.
In embodiments of the present invention, invention increases according to camera type, determine whether the step of carrying out roller shutter calibration,
Global camera and roller shutter camera can be demarcated using different methods, be further improved to camera and Inertial Measurement Unit
Join the accuracy demarcated outside relatively, broken the limitation of the prior art so that the present invention have wider applied field
Scape.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Corresponding to the scaling method of camera described in foregoing embodiments and Inertial Measurement Unit relative attitude, Fig. 8 is shown
A kind of structural block diagram of the caliberating device of camera and Inertial Measurement Unit relative attitude provided in an embodiment of the present invention, for the ease of
Illustrate, only parts related to embodiments of the present invention are shown.
Referring to Fig. 8, the caliberating device of the camera and Inertial Measurement Unit relative attitude includes:
Internal reference demarcating module 81, for carrying out internal reference calibration respectively to camera and Inertial Measurement Unit；The camera and institute
It states Inertial Measurement Unit and is all set in mechanical arm；
Driving and acquisition execution module 82, for driving mechanical arm to carry the camera and the Inertial Measurement Unit with pre-
If track moves, and acquires the first image data of scaling board by the camera simultaneously and pass through the Inertial Measurement Unit
Acquire the first Inertial Measurement Unit data；
Join demarcating module 83 outside first, for carrying out roller shutter to the camera when the camera is Rolling shutter camera
Corresponding parameter value is demarcated and obtains, when the parameter value is when within the first preset range, according to the first image data
With the first Inertial Measurement Unit data, the relatively outer ginseng of the camera and the Inertial Measurement Unit is calculated.
Optionally, the caliberating device of the camera and Inertial Measurement Unit relative attitude, further includes:
Join demarcating module outside second, is used for when the camera is global shutter camera, according to the first image data
With the first Inertial Measurement Unit data, the relatively outer ginseng of the camera and the Inertial Measurement Unit is calculated.
Optionally, the caliberating device of the camera and Inertial Measurement Unit relative attitude, further includes:
Cue module, for carrying out miscue when the parameter value is not when within first preset range；Also use
Join not when within second preset range outside relatively in when described, carries out miscue.
Fig. 9 is the schematic diagram for the terminal device that one embodiment of the invention provides.As shown in figure 9, the terminal of the embodiment is set
Standby 9 include: processor 100, memory 101 and are stored in the memory 91 and can run on the processor 90
Computer program 92, for example, camera and Inertial Measurement Unit relative attitude calibration program.The processor 90 executes described
The step in the scaling method embodiment of above-mentioned camera and Inertial Measurement Unit relative attitude is realized when computer program 92, such as
Step S101 to S103 shown in FIG. 1.Alternatively, the processor 90 realizes above-mentioned each device when executing the computer program 92
The function of each module/unit in embodiment, such as the function of module 81 to 83 shown in Fig. 8.
Illustratively, the computer program 92 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 91, and are executed by the processor 90, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 92 in the terminal device 9 is described.
The terminal device 9 can be computer and plate etc..The terminal device 9 may include, but be not limited only to, processor
90, memory 91.It will be understood by those skilled in the art that Fig. 9 is only the example of terminal device 9, structure paired terminal is not set
Standby 9 restriction may include components more more or fewer than diagram, perhaps combine certain components or different components, such as
The terminal device can also include input-output equipment, network access equipment, bus etc..
Alleged processor 90 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), field 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 memory 91 can be the internal storage unit of the terminal device 9, such as the hard disk or interior of terminal device 9
It deposits.The memory 91 is also possible to the External memory equipment of the terminal device 9, such as be equipped on the terminal device 9
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 91 can also both include the storage inside list of the terminal device 9
Member also includes External memory equipment.The memory 91 is for storing needed for the computer program and the terminal device
Other programs and data.The memory 91 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.
Please continue to refer to shown in Fig. 2, another embodiment of the present invention provides a kind of calibration system, which includes:
Mechanical arm 210, camera 211, IMU212 and terminal device 213, wherein camera 211 and IMU212 are all set in mechanical arm
210, terminal device 213 is separately connected mechanical arm 210, camera 211 and IMU212.
Optionally, calibration system further includes lighting source, and lighting source can for example use lamp box, for providing light source,
In practical applications, due to the unequal external factor of light in environment, when scaling board being caused to turn to different angle, uncalibrated image is aobvious
Show different grayscale.Therefore this calibration system provides good illumination, it is possible to reduce the unequal external factor of ambient lighting is to mark
Fixed influence.
Optionally, terminal device 213 can with mechanical arm 210 by the wired connections such as USB, can also by wireless network etc. into
Row is wirelessly connected to control mechanical arm 210, and wherein terminal device 213 can pass through wireless network and camera 211 and IMU212
Connection, to control it or terminal device can be electrically connected with camera 211 and IMU212 respectively.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. the scaling method of a kind of camera and Inertial Measurement Unit relative attitude characterized by comprising
Internal reference calibration is carried out respectively to camera and Inertial Measurement Unit, the camera and the Inertial Measurement Unit are all set in machine
Tool arm；
Driving mechanical arm carries the camera and the Inertial Measurement Unit is moved with desired guiding trajectory, and passes through the camera simultaneously
It acquires the first image data of scaling board and the first Inertial Measurement Unit data is acquired by the Inertial Measurement Unit；
When the camera is Rolling shutter camera, roller shutter calibration is carried out to the camera and obtains corresponding parameter value, works as institute
Parameter value is stated when within the first preset range, according to the first image data and the first Inertial Measurement Unit data,
Calculate the relatively outer ginseng of the camera and the Inertial Measurement Unit.
2. the method as described in claim 1, which is characterized in that first picture number for acquiring scaling board by the camera
Accordingly and by the Inertial Measurement Unit acquire the first Inertial Measurement Unit data after, further includes: when the camera is complete
When office's shutter camera, according to the first image data and the first Inertial Measurement Unit data, the camera and institute are calculated
State the relatively outer ginseng of Inertial Measurement Unit.
3. method according to claim 1 or 2, which is characterized in that carry out internal reference calibration to camera, comprising:
It drives mechanical arm to carry camera and rotates multiple angles, and acquire the second image of scaling board under multiple angles by camera
Data；
The internal reference of the camera is calculated using the angle point of second image data extraction and the parameter attribute of the scaling board.
4. method according to claim 1 or 2, which is characterized in that carry out internal reference calibration to Inertial Measurement Unit, comprising:
When Inertial Measurement Unit remains static, the under default acquisition duration t is acquired by the Inertial Measurement Unit
Two Inertial Measurement Unit data；
The error ginseng that Allan variance analysis obtains the Inertial Measurement Unit is carried out to the second Inertial Measurement Unit data
Number.
5. method as claimed in claim 4, which is characterized in that described to be carried out to the second Inertial Measurement Unit data
Allan variance analysis obtains the error parameter of the Inertial Measurement Unit, comprising:
The second Inertial Measurement Unit data are divided into N group, calculate every group described in the second Inertial Measurement Unit data it is equal
Value；
According to the mean value computation Allan variances sigma2(T)；Wherein, T is the time span of every group of second Inertial Measurement Unit data,
T=t/N；
According to the Allan variances sigma2(T) Allan standard deviation sigma (T) is calculated；
The double logarithmic curve for making Allan standard deviation sigma (T) and the time span T obtains error parameter.
6. method according to claim 1 or 2, which is characterized in that described to carry out roller shutter calibration to the camera and obtain phase
After the parameter value answered, further includes: when the parameter value is not when within first preset range, carry out miscue；
After the relatively outer ginseng for calculating the camera and the Inertial Measurement Unit, further includes: when the relatively outer ginseng exists
When within the second preset range, terminate this calibration；Join not when within second preset range outside relatively when described, carries out
Miscue.
7. the caliberating device of a kind of camera and Inertial Measurement Unit relative attitude characterized by comprising
Internal reference demarcating module, for carrying out internal reference calibration, the camera and the inertia respectively to camera and Inertial Measurement Unit
Measuring unit is all set in mechanical arm；
Driving and acquisition execution module, for driving mechanical arm to carry the camera and the Inertial Measurement Unit with desired guiding trajectory
Movement, and the first image data of scaling board is acquired by the camera simultaneously and acquires the by the Inertial Measurement Unit
One Inertial Measurement Unit data；
Join demarcating module outside first, for carrying out roller shutter calibration simultaneously to the camera when the camera is Rolling shutter camera
Corresponding parameter value is obtained, when the parameter value is when within the first preset range, according to the first image data and described
First Inertial Measurement Unit data calculate the relatively outer ginseng of the camera and the Inertial Measurement Unit.
8. a kind of terminal device, including memory and processor, it is stored with and can transports on the processor in the memory
Capable computer program, which is characterized in that when the processor executes the computer program, realize such as claim 1 to 6 times
The step of one the method.
9. the calibration system of a kind of camera and Inertial Measurement Unit relative attitude, which is characterized in that including mechanical arm, camera, be used to
Property measuring unit and terminal device as claimed in claim 8, wherein the camera and the Inertial Measurement Unit are respectively provided with
In the mechanical arm, the terminal device is separately connected the mechanical arm, the camera and the Inertial Measurement Unit.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 7 of realization the method.
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| CN201910547763.0A CN110378968B (en) | 2019-06-24 | 2019-06-24 | Method and device for calibrating relative attitude of camera and inertial measurement unit |
| PCT/CN2020/089868 WO2020259106A1 (en) | 2019-06-24 | 2020-05-12 | Calibration method and device for relative attitudes of camera and inertial measurement unit |
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| CN201910547763.0A CN110378968B (en) | 2019-06-24 | 2019-06-24 | Method and device for calibrating relative attitude of camera and inertial measurement unit |
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| CN110378968B (en) | 2022-01-14 |
| WO2020259106A1 (en) | 2020-12-30 |
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