CN111578937B - 同时优化外参数的视觉惯性里程计*** - Google Patents
同时优化外参数的视觉惯性里程计*** Download PDFInfo
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- CN111578937B CN111578937B CN202010471312.6A CN202010471312A CN111578937B CN 111578937 B CN111578937 B CN 111578937B CN 202010471312 A CN202010471312 A CN 202010471312A CN 111578937 B CN111578937 B CN 111578937B
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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
- G01C21/165—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 combined with non-inertial navigation instruments
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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
- G01C21/20—Instruments for performing navigational calculations
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Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
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CN112284381B (zh) * | 2020-10-19 | 2022-09-13 | 北京华捷艾米科技有限公司 | 视觉惯性实时初始化对准方法及*** |
CN112556692B (zh) * | 2020-11-27 | 2023-01-31 | 绍兴市北大信息技术科创中心 | 一种基于注意力机制的视觉和惯性里程计方法和*** |
CN112649016B (zh) * | 2020-12-09 | 2023-10-03 | 南昌大学 | 一种基于点线初始化的视觉惯性里程计方法 |
CN112862768B (zh) * | 2021-01-28 | 2022-08-02 | 重庆邮电大学 | 一种基于点线特征的自适应单目vio初始化方法 |
CN113158459A (zh) * | 2021-04-20 | 2021-07-23 | 浙江工业大学 | 一种基于视觉和惯性信息融合的人体姿态估计方法 |
CN113077515B (zh) * | 2021-06-07 | 2021-09-21 | 之江实验室 | 一种水下视觉惯导压力定位的紧耦合初始化方法 |
US11521332B1 (en) | 2021-06-29 | 2022-12-06 | Midea Group Co., Ltd. | Method and apparatus for optimization of a monocular visual-inertial localization system |
US11756231B2 (en) * | 2021-06-29 | 2023-09-12 | Midea Group Co., Ltd. | Method and apparatus for scale calibration and optimization of a monocular visual-inertial localization system |
CN113432595A (zh) * | 2021-07-07 | 2021-09-24 | 北京三快在线科技有限公司 | 设备状态获取方法、装置、计算机设备及存储介质 |
CN114216455A (zh) * | 2021-11-04 | 2022-03-22 | 天津工业大学 | 同时优化时间偏差的视觉惯性里程计*** |
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WO2014130854A1 (en) * | 2013-02-21 | 2014-08-28 | Regents Of The Univesity Of Minnesota | Extrinsic parameter calibration of a vision-aided inertial navigation system |
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WO2014130854A1 (en) * | 2013-02-21 | 2014-08-28 | Regents Of The Univesity Of Minnesota | Extrinsic parameter calibration of a vision-aided inertial navigation system |
CN108981693A (zh) * | 2018-03-22 | 2018-12-11 | 东南大学 | 基于单目相机的vio快速联合初始化方法 |
WO2020087846A1 (zh) * | 2018-10-31 | 2020-05-07 | 东南大学 | 基于迭代扩展卡尔曼滤波融合惯性与单目视觉的导航方法 |
CN110030994A (zh) * | 2019-03-21 | 2019-07-19 | 东南大学 | 一种基于单目的鲁棒性视觉惯性紧耦合定位方法 |
CN110345944A (zh) * | 2019-05-27 | 2019-10-18 | 浙江工业大学 | 融合视觉特征和imu信息的机器人定位方法 |
CN110751123A (zh) * | 2019-06-25 | 2020-02-04 | 北京机械设备研究所 | 一种单目视觉惯性里程计***及方法 |
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