WO2022100189A1

WO2022100189A1 - Method and apparatus for calibrating parameters of visual-inertial system, and electronic device and medium

Info

Publication number: WO2022100189A1
Application number: PCT/CN2021/113113
Authority: WO
Inventors: 陈常; 王楠; 陈丹鹏
Original assignee: 浙江商汤科技开发有限公司
Priority date: 2020-11-16
Filing date: 2021-08-17
Publication date: 2022-05-19
Also published as: CN114791291B; CN112229424B; CN114812608A; CN114812609A; CN112229424A; CN114812610B; CN114791291A; CN114812610A

Abstract

A method and apparatus for calibrating parameters of a visual-inertial system, and an electronic device and a medium. The method comprises: obtaining state data of a visual-inertial system at a previous moment; according to the state data of the visual-inertial system at the previous moment, coordinates of a feature point in an image acquired by a visual sensor at the current moment, and output data from an inertial sensor at the current moment, estimating state data of the visual-inertial system at the current moment; and according to the state data of the visual-inertial system at the current moment, calibrating parameters to be calibrated of the visual-inertial system.

Description

视觉惯性***的参数标定方法及装置、电子设备和介质Parameter calibration method and device for visual inertial system, electronic equipment and medium

相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS

本公开基于申请号为202011281318.3、申请日为2020年11月16日、申请名称为“视觉惯性***的参数标定方法及装置、电子设备和介质”的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此以全文引入的方式引入本公开。The present disclosure is based on the Chinese patent application with the application number of 202011281318.3, the application date of November 16, 2020, and the application title of "parameter calibration method and device for visual inertial system, electronic equipment and medium", and requires the Chinese patent application Priority, the entire content of this Chinese patent application is hereby incorporated by reference into the present disclosure in its entirety.

技术领域technical field

本公开涉及计算机视觉技术领域，尤其涉及一种视觉惯性***的参数标定方法及装置、电子设备和介质。The present disclosure relates to the technical field of computer vision, and in particular, to a method and device for calibrating parameters of a visual inertial system, an electronic device and a medium.

背景技术Background technique

随着计算机视觉和图像处理技术的发展，通过机器视觉感知周围环境进行定位被广泛应用。通过融合视觉传感器和惯性传感器能够获得更高精度的定位信息。使用视觉传感器和惯性传感器融合的同时定位与地图构建***(Visual-Inertial Simultaneous Localization And Mapping，VI-SLAM)，在虚拟现实、增强现实、混合现实、无人机、移动机器人和无人驾驶汽车等方面广泛应用。通过融合视觉传感器和惯性传感器的数据，能够对视觉惯性***进行高精度定位，并且能够构建精准的三维环境地图。对视觉惯性***的传感器参数进行标定，对于视觉惯性***具有重要意义。With the development of computer vision and image processing technology, localization by perceiving the surrounding environment through machine vision is widely used. By fusing visual sensors and inertial sensors, higher-precision positioning information can be obtained. Simultaneous localization and mapping system (Visual-Inertial Simultaneous Localization And Mapping, VI-SLAM) using visual sensor and inertial sensor fusion, in virtual reality, augmented reality, mixed reality, drones, mobile robots and driverless cars, etc. widely used. By fusing the data of visual sensors and inertial sensors, the visual-inertial system can be positioned with high precision, and an accurate three-dimensional environment map can be constructed. It is of great significance for the visual inertial system to calibrate the sensor parameters of the visual inertial system.

发明内容SUMMARY OF THE INVENTION

本公开实施例提供了一种视觉惯性***的参数标定技术方案。The embodiments of the present disclosure provide a technical solution for parameter calibration of a visual inertial system.

根据本公开实施例的一方面，提供了一种视觉惯性***的参数标定方法，所述视觉惯性***包括视觉传感器和惯性传感器，所述方法包括：According to an aspect of the embodiments of the present disclosure, a method for calibrating parameters of a visual-inertial system is provided, the visual-inertial system includes a visual sensor and an inertial sensor, and the method includes:

获取所述视觉惯性***在上一时刻的状态数据；Obtain the state data of the visual inertial system at the last moment;

根据所述视觉惯性***在所述上一时刻的状态数据，所述视觉传感器在当前时刻采集的图像中的特征点的坐标，以及所述惯性传感器在所述当前时刻的输出数据，估计所述视觉惯性***在所述当前时刻的状态数据；According to the state data of the visual inertial system at the last moment, the coordinates of the feature points in the image collected by the visual sensor at the current moment, and the output data of the inertial sensor at the current moment, estimate the State data of the visual inertial system at the current moment;

根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定。The to-be-calibrated parameters of the visual-inertial system are calibrated according to the state data of the visual-inertial system at the current moment.

在一种可能的实现方式中，所述视觉惯性***在所述上一时刻的状态数据包括：所述视觉传感器在所述上一时刻的状态数据、所述惯性传感器在所述上一时刻的状态数据以及所述待标定参数在所述上一时刻的数值；所述视觉惯性***在所述当前时刻的状态数据包括：所述视觉传感器在所述当前时刻的状态数据、所述惯性传感器在所述当前时刻的状态数据以及所述待标定参数在所述当前时刻的数值。基于该实现方式中所述视觉惯性***的状态数据进行视觉惯性***的传感器参数的自标定，能够获得较精准的参数。In a possible implementation manner, the state data of the visual inertial system at the last moment includes: the state data of the visual sensor at the last moment, the state data of the inertial sensor at the last moment status data and the value of the parameter to be calibrated at the previous moment; the status data of the visual inertial system at the current moment includes: the status data of the visual sensor at the current moment, the inertial sensor at the current moment The state data at the current moment and the value of the parameter to be calibrated at the current moment. Based on the state data of the visual inertial system in this implementation manner, self-calibration of the sensor parameters of the visual inertial system can be performed, and more accurate parameters can be obtained.

在一种可能的实现方式中，所述视觉传感器在所述上一时刻的状态数据包括：所述视觉传感器在所述上一时刻的平移参数和所述视觉传感器在所述上一时刻的旋转参数；所述视觉传感器在所述当前时刻的状态数据包括：所述视觉传感器在所述当前时刻的平移参数和所述视觉传感器在所述当前时刻的旋转参数。基于该实现方式中的视觉传感器的状态数据进行视觉惯性***的传感器参数的自标定，有助于提高标定效果。In a possible implementation manner, the state data of the vision sensor at the last moment includes: translation parameters of the vision sensor at the last moment and rotation of the vision sensor at the last moment parameter; the state data of the visual sensor at the current moment includes: the translation parameter of the visual sensor at the current moment and the rotation parameter of the visual sensor at the current moment. The self-calibration of the sensor parameters of the visual inertial system based on the state data of the visual sensor in this implementation is helpful to improve the calibration effect.

在一种可能的实现方式中，所述惯性传感器在所述上一时刻的状态数据包括：所述惯性传感器在所述上一时刻的速度；所述惯性传感器在所述当前时刻的状态数据包括：所述惯性传感器在所述当前时刻的速度。基于该实现方式中的惯性传感器的状态数据进行视觉惯性***的传感器参数的自标定，有助于提高标定效果。In a possible implementation manner, the state data of the inertial sensor at the last moment includes: the speed of the inertial sensor at the last moment; the state data of the inertial sensor at the current moment includes: : The speed of the inertial sensor at the current moment. The self-calibration of the sensor parameters of the visual inertial system based on the state data of the inertial sensor in this implementation is helpful to improve the calibration effect.

在一种可能的实现方式中，所述惯性传感器在所述上一时刻的状态数据还包括：所述惯性传感器在所述上一时刻的加速度计的零偏以及所述惯性传感器在所述上一时刻的陀螺仪的零偏；所述惯性传感器在所述当前时刻的状态数据还包括：所述惯性传感器在所述当前时刻的加速度计的零偏以及所述惯性传感器在所述当前时刻的陀螺仪的零偏。基于该实现方式中的惯性传感器的状态数据进行视觉惯性***的传感器参数的自标定，有助于进一步提高采用消费级的惯性传感器的视觉惯性***的标定效果。In a possible implementation manner, the state data of the inertial sensor at the last moment further includes: the zero offset of the accelerometer of the inertial sensor at the last moment and the zero offset of the inertial sensor at the last moment The zero offset of the gyroscope at a moment; the state data of the inertial sensor at the current moment further includes: the zero offset of the accelerometer of the inertial sensor at the current moment and the zero offset of the inertial sensor at the current moment The zero offset of the gyroscope. The self-calibration of the sensor parameters of the visual inertial system based on the state data of the inertial sensor in this implementation is helpful to further improve the calibration effect of the visual inertial system using the consumer-grade inertial sensor.

在一种可能的实现方式中，所述待标定参数包括时间偏移，其中，所述时间偏移表示在同一时刻所述视觉传感器的时钟与所述惯性传感器的时钟之间的差值；所述根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定，包括：在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第一预设稳定性条件，且所述惯性传感器的陀螺仪的零偏满足第二预设稳定性条件的情况下，开启对所述时间偏移的标定。在该实现方式中，第一预设稳定性条件为预先设置的加速度计的零偏的稳定性条件，第二预设稳定性条件为预先设置的陀螺仪的零偏的稳定性条件。所述惯性传感器的加速度计的零偏满足第一预设稳定性条件且所述惯性传感器的陀螺仪的零偏满足第二预设稳定性条件时，所述惯性传感器的加速度计和陀螺仪的稳定性均较高。在这个时机开启对所述时间偏移的标定，有助于提高所述视觉惯性***的待标定参数的收敛速度，提高参数标定的精度和鲁棒性。另外，通过先标定所述时间偏移，能够使视觉传感器与惯性传感器的时间戳对齐，以使视觉惯性***中视觉传感器与惯性传感器的数据是同步的。In a possible implementation manner, the parameter to be calibrated includes a time offset, wherein the time offset represents a difference between the clock of the visual sensor and the clock of the inertial sensor at the same moment; the The step of calibrating the parameters to be calibrated of the visual inertial system according to the state data of the visual inertial system at the current moment includes: in the state data of the visual inertial system at the current moment, the inertial When the zero offset of the accelerometer of the sensor satisfies the first preset stability condition, and the zero offset of the gyroscope of the inertial sensor satisfies the second preset stability condition, the calibration of the time offset is enabled. In this implementation manner, the first preset stability condition is a preset stability condition of the bias of the accelerometer, and the second preset stability condition is a preset stability condition of the bias of the gyroscope. When the zero offset of the accelerometer of the inertial sensor satisfies the first preset stability condition and the zero offset of the gyroscope of the inertial sensor meets the second preset stability condition, the accelerometer of the inertial sensor and the gyroscope of the inertial sensor meet the second preset stability condition. The stability is high. Starting the calibration of the time offset at this opportunity helps to improve the convergence speed of the parameters to be calibrated in the visual-inertial system, and improves the accuracy and robustness of parameter calibration. In addition, by first calibrating the time offset, the time stamps of the visual sensor and the inertial sensor can be aligned, so that the data of the visual sensor and the inertial sensor in the visual-inertial system are synchronized.

在一种可能的实现方式中，所述待标定参数包括所述视觉传感器的内参；所述根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定，包括：在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第三预设稳定性条件的情况下，开启对所述视觉传感器的内参的标定，其中，所述第三预设稳定性条件对应的加速度计的零偏的稳定性，高于第一预设稳定性条件对应的加速度计的零偏的稳定性。在该实现方式中，通过在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第三预设稳定性条件的情况下，开启对所述视觉传感器的内参的标定，有助于提高所述视觉惯性***的待标定参数的收敛速度，提高参数标定的精度和鲁棒性。另外，在所述惯性传感器的加速度计的零偏满足第三预设稳定性条件的情况下，视觉惯性***的稳定度较高，在这个时机开启视觉传感器的内参的标定，能够使当前的视觉惯性***保持较稳定的状态，从而能够获得较好的标定效果。In a possible implementation manner, the parameters to be calibrated include internal parameters of the visual sensor; and the parameters to be calibrated of the visual inertial system are performed according to the state data of the visual inertial system at the current moment. Calibration includes: in the state data of the visual inertial system at the current moment, in the case that the zero offset of the accelerometer of the inertial sensor satisfies a third preset stability condition, turning on the internal reference of the visual sensor The calibration of the accelerometer, wherein the stability of the bias of the accelerometer corresponding to the third preset stability condition is higher than the stability of the bias of the accelerometer corresponding to the first preset stability condition. In this implementation manner, in the state data of the visual inertial system at the current moment, when the zero offset of the accelerometer of the inertial sensor satisfies a third preset stability condition, enable the visual inspection of the visual inertial system. The calibration of the internal parameters of the sensor helps to improve the convergence speed of the to-be-calibrated parameters of the visual inertial system, and improves the accuracy and robustness of parameter calibration. In addition, when the zero bias of the accelerometer of the inertial sensor satisfies the third preset stability condition, the stability of the visual inertial system is relatively high, and the calibration of the internal parameters of the visual sensor is started at this time, which can make the current visual The inertial system maintains a relatively stable state, so that a better calibration effect can be obtained.

在一种可能的实现方式中，所述视觉传感器的内参包括所述视觉传感器的焦距和光心；在所述开启对所述视觉传感器的内参的标定之前，所述方法还包括：在获取得到所述视觉传感器的视场角的情况下，根据所述视觉传感器采集的图像的宽度以及所述视觉传感器的视场角，确定所述视觉传感器的焦距的初始值；或者，在获取不到所述视觉传感器的视场角的情况下，根据所述视觉传感器采集的图像的宽度和高度，确定所述视觉传感器的焦距的初始值。根据该实现方式确定的视觉传感器的焦距的初始值进行视觉惯性***的参数标定，有助于提高标定精度。In a possible implementation manner, the internal parameters of the visual sensor include the focal length and the optical center of the visual sensor; before starting the calibration of the internal parameters of the visual sensor, the method further includes: after obtaining the obtained In the case of the visual field angle of the visual sensor, the initial value of the focal length of the visual sensor is determined according to the width of the image collected by the visual sensor and the visual field angle of the visual sensor; In the case of the field angle of the vision sensor, the initial value of the focal length of the vision sensor is determined according to the width and height of the image collected by the vision sensor. The parameter calibration of the visual inertial system is performed according to the initial value of the focal length of the visual sensor determined in this implementation manner, which helps to improve the calibration accuracy.

在一种可能的实现方式中，所述视觉传感器的内参包括所述视觉传感器的光心坐标；在所述开启对所述视觉传感器的内参的标定之前，所述方法还包括：根据所述视觉传感器采集的图像的宽度和高度，确定所述视觉传感器的光心坐标的初始值。根据该实现方式确定的视觉传感器的光心坐标的初始值进行视觉惯性***的参数的标定，有助于提高标定精度。In a possible implementation manner, the internal reference of the visual sensor includes the optical center coordinate of the visual sensor; before the enabling calibration of the internal reference of the visual sensor, the method further includes: according to the visual sensor The width and height of the image collected by the sensor determine the initial value of the optical center coordinates of the vision sensor. The parameters of the visual inertial system are calibrated according to the initial value of the optical center coordinate of the vision sensor determined by this implementation, which helps to improve the calibration accuracy.

在一种可能的实现方式中，所述待标定参数包括所述惯性传感器与所述视觉传感器之间的坐标转换参数，其中，所述坐标转换参数包括所述惯性传感器与所述视觉传感器之间的平移参数和旋转参数中的至少之一；所述根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定，包括：在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第四预设稳定性条件的情况下，开启对所述坐标转换参数的标定，其中，所述第四预设稳定性条件对应的加速度计的零偏的稳定性，高于第一预设稳定性条件对应的加速度计的零偏的稳定性。在该实现方式中，通过在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第四预设稳定性条件的情况下，开启对所述坐标转换参数的标定，有助于提高所述视觉惯性***的待标定参数的收敛速度，提高参数标定的精度和鲁棒性。另外，在所述惯性传感器的加速度计的零偏满足第四预设稳定性条件的情况下，视觉惯性***的稳定度较高，在这个时机开启所述惯性传感器与所述视觉传感器之间的坐标转换参数的标定，能够使当前的视觉惯性***保持较稳定的状态，从而能够获得较好的标定效果。In a possible implementation manner, the parameter to be calibrated includes a coordinate conversion parameter between the inertial sensor and the visual sensor, wherein the coordinate conversion parameter includes a parameter between the inertial sensor and the visual sensor at least one of the translation parameters and rotation parameters of the visual inertial system; the calibration of the parameters to be calibrated of the visual inertial system according to the state data of the visual inertial system at the current moment, including: in the visual inertial system In the state data at the current moment, when the zero offset of the accelerometer of the inertial sensor satisfies a fourth preset stability condition, the calibration of the coordinate conversion parameter is enabled, wherein the fourth preset stability condition is The stability of the zero offset of the accelerometer corresponding to the stability condition is higher than the stability of the zero offset of the accelerometer corresponding to the first preset stability condition. In this implementation manner, when the zero offset of the accelerometer of the inertial sensor satisfies the fourth preset stability condition in the state data of the visual inertial system at the current moment, the adjustment of the coordinate system is enabled. The calibration of the conversion parameters helps to improve the convergence speed of the to-be-calibrated parameters of the visual inertial system, and improves the accuracy and robustness of parameter calibration. In addition, in the case that the zero offset of the accelerometer of the inertial sensor satisfies the fourth preset stability condition, the stability of the visual inertial system is relatively high, and at this timing, the communication between the inertial sensor and the visual sensor is turned on. The calibration of the coordinate transformation parameters can keep the current visual inertial system in a relatively stable state, so that a better calibration effect can be obtained.

在一种可能的实现方式中，所述待标定参数包括所述视觉传感器的畸变参数；所述根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定，包括：在根据所述视觉惯性***在所述当前时刻的状态数据，确定所述视觉传感器的内参满足第五预设稳定性条件的情况下，开启对所述视觉传感器的畸变参数的标定。在该实现方式中，通过在根据所述视觉惯性***在所述当前时刻的状态数据，确定所述视觉传感器的内参满足第五预设稳定性条件的情况下，开启对所述视觉传感器的畸变参数的标定，有助于提高所述视觉惯性***的待标定参数的收敛速度，提高参数标定的精度和鲁棒性。在该实现方式中，视觉传感器的内参先于视觉传感器的畸变参数开启标定。在所述视觉传感器的内参满足第五预设稳定性条件的情况下，所述视觉传感器的内参已收敛。在这个时机开启视觉传感器的畸变参数的标定，不会影响视觉传感器的内参的标定效果。In a possible implementation manner, the parameter to be calibrated includes a distortion parameter of the visual sensor; the parameter to be calibrated for the visual inertial system according to the state data of the visual inertial system at the current moment The calibration includes: in the case where it is determined that the internal parameter of the visual sensor satisfies the fifth preset stability condition according to the state data of the visual inertial system at the current moment, turning on the distortion parameter of the visual sensor. Calibration. In this implementation manner, the distortion of the visual sensor is enabled when it is determined that the internal parameter of the visual sensor meets the fifth preset stability condition according to the state data of the visual inertial system at the current moment. The calibration of parameters helps to improve the convergence speed of the parameters to be calibrated in the visual inertial system, and improves the accuracy and robustness of parameter calibration. In this implementation, the internal reference of the vision sensor is calibrated prior to the distortion parameter of the vision sensor. In the case that the internal reference of the visual sensor satisfies the fifth preset stability condition, the internal reference of the visual sensor has converged. Turning on the calibration of the distortion parameters of the vision sensor at this time will not affect the calibration effect of the internal parameters of the vision sensor.

在一种可能的实现方式中，所述方法还包括：根据所述视觉惯性***的运动状态，确定所述当前时刻的保持固定的待标定参数。在该实现方式中，通过根据所述视觉惯性***的运动状态，确定所述当前时刻的保持固定的待标定参数，由此在当前时刻仅对当前时刻可观测的待标定参数进行标定，而将当前时刻不可观测的待标定参数保持固定，从而不会因视觉惯性***的运动状态降低参数的有效性，能够提高所标定的参数的精度，从而有助于提高所述视觉惯性***进行定位、建图、导航等的精度。In a possible implementation manner, the method further includes: determining the constant to-be-calibrated parameter at the current moment according to the motion state of the visual inertial system. In this implementation, by determining the parameters to be calibrated at the current moment that remain fixed according to the motion state of the visual inertial system, only the parameters to be calibrated that are observable at the current moment are calibrated at the current moment, and the parameters to be calibrated that are observable at the current moment are calibrated. The parameters to be calibrated that cannot be observed at the current moment are kept fixed, so that the validity of the parameters will not be reduced due to the motion state of the visual inertial system, and the accuracy of the calibrated parameters can be improved, thereby helping to improve the positioning and construction of the visual inertial system. Accuracy of graphics, navigation, etc.

在一种可能的实现方式中，所述根据所述视觉惯性***的运动状态，确定在所述当前时刻保持固定的待标定参数，包括以下至少之一：在所述视觉惯性***静止的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数；在所述视觉传感器或者所述惯性传感器的平移参数为0且旋转参数不为0的情况下，确定在所述当前时刻保持固定的待标定参数包括所述惯性传感器与所述视觉传感器之间的平移参数；在所述视觉传感器或者所述惯性传感器绕着x轴、y轴和z轴中的一个轴旋转的情况下，确定在所述当前时刻保持固定的待标定参数包括所述惯性传感器与所述视觉传感器之间的平移参数中旋转轴对应的参数；在所述视觉传感器或者所述惯性传感器绕着任一坐标轴以恒定的角速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数；在所述视觉传感器或者所述惯性传感器沿着任一坐标轴以恒定的速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数；在所述视觉传感器或者所述惯性传感器绕着任一坐标轴以恒定的角加速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数。根据该实现方式，能够将当前时刻不可观测的待标定参数保持固定，从而不会因视觉惯性***的运动状态降低参数的有效性，能够提高所标定的参数的精度。In a possible implementation manner, the determining a parameter to be calibrated that remains fixed at the current moment according to the motion state of the visual-inertial system includes at least one of the following: when the visual-inertial system is stationary , determine that the parameters to be calibrated that remain fixed at the current moment include time offset, translation parameters between the inertial sensor and the visual sensor, and rotation parameters between the inertial sensor and the visual sensor; In the case where the translation parameter of the visual sensor or the inertial sensor is 0 and the rotation parameter is not 0, it is determined that the parameter to be calibrated that remains fixed at the current moment includes the translation parameter between the inertial sensor and the visual sensor ; In the case where the visual sensor or the inertial sensor rotates around one of the x-axis, the y-axis and the z-axis, it is determined that the parameters to be calibrated that remain fixed at the current moment include the inertial sensor and the The parameter corresponding to the rotation axis in the translation parameters between the visual sensors; in the case that the visual sensor or the inertial sensor moves around any coordinate axis at a constant angular velocity, determine the parameter to be calibrated that remains fixed at the current moment Including the time offset and the parameter corresponding to the coordinate axis in the translation parameters between the inertial sensor and the visual sensor; in the case where the visual sensor or the inertial sensor moves at a constant speed along any coordinate axis Next, it is determined that the parameters to be calibrated that remain fixed at the current moment include time offset and the parameters corresponding to the coordinate axes in the translation parameters between the inertial sensor and the visual sensor; in the visual sensor or the visual sensor In the case that the inertial sensor moves around any coordinate axis with a constant angular acceleration, it is determined that the parameters to be calibrated that remain fixed at the current moment include time offset and all of the translation parameters between the inertial sensor and the visual sensor. parameters corresponding to the coordinate axes. According to this implementation, the unobservable parameters to be calibrated at the current moment can be kept fixed, so that the validity of the parameters will not be reduced due to the motion state of the visual inertial system, and the accuracy of the calibrated parameters can be improved.

在一种可能的实现方式中，所述方法还包括：根据所述视觉惯性***的跟踪状态，确定所述当前时刻的保持固定的待标定参数。在该实现方式中，通过根据所述视觉惯性***的跟踪状态，确定所述当前时刻的保持固定的待标定参数，由此在当前时刻仅对当前时刻可观测的待标定参数进行标定，而将当前时刻不可观测的待标定参数保持固定，从而不会因视觉惯性***的跟踪状态降低参数的有效性，能够提高所标定的参数的精度，从而有助于提高所述视觉惯性***进行定位、建图、导航等的精度。In a possible implementation manner, the method further includes: determining the constant to-be-calibrated parameter at the current moment according to the tracking state of the visual-inertial system. In this implementation manner, by determining the constant to-be-calibrated parameters at the current moment according to the tracking state of the visual-inertial system, only the to-be-calibrated parameters that are observable at the current moment are calibrated at the current moment, and the The parameters to be calibrated that cannot be observed at the current moment are kept fixed, so that the effectiveness of the parameters will not be reduced due to the tracking state of the visual inertial system, and the accuracy of the calibrated parameters can be improved, thereby helping to improve the positioning and construction of the visual inertial system. Accuracy of graphics, navigation, etc.

在一种可能的实现方式中，所述根据所述视觉惯性***的跟踪状态，确定所述当前时刻的保持固定的待标定参数，包括：在所述视觉惯性***跟踪丢失的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数；和/或，在所述视觉惯性***当前跟踪到的特征点的数量小于预设数量的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数。根据该实现方式，能够将当前时刻不可观测的待标定参数保持固定，从而不会因视觉惯性***的跟踪状态降低参数的有效性，能够提高所标定的参数的精度。In a possible implementation manner, the determining the constant to-be-calibrated parameter at the current moment according to the tracking state of the visual-inertial system includes: in the case that the tracking of the visual-inertial system is lost, determining when the visual-inertial system is lost. The parameters to be calibrated that are kept fixed at the current moment include time offset, translation parameters between the inertial sensor and the visual sensor, and rotation parameters between the inertial sensor and the visual sensor; and/or, in In the case where the number of feature points currently tracked by the visual inertial system is less than the preset number, it is determined that the parameters to be calibrated that remain fixed at the current moment include the time offset, the time offset between the inertial sensor and the visual sensor. Translation parameters and rotation parameters between the inertial sensor and the vision sensor. According to this implementation, the parameters to be calibrated that cannot be observed at the current moment can be kept fixed, so that the effectiveness of the parameters will not be reduced due to the tracking state of the visual inertial system, and the accuracy of the calibrated parameters can be improved.

根据本公开的一方面，提供了一种视觉惯性***的参数标定装置，所述视觉惯性***包括视觉传感器和惯性传感器，所述装置包括：According to an aspect of the present disclosure, a parameter calibration device for a visual inertial system is provided, the visual inertial system includes a visual sensor and an inertial sensor, and the device includes:

获取模块，配置为获取所述视觉惯性***在上一时刻的状态数据；an acquisition module, configured to acquire the state data of the visual inertial system at the last moment;

估计模块，配置为根据所述视觉惯性***在所述上一时刻的状态数据，所述视觉传感器在当前时刻采集的图像中的特征点的坐标，以及所述惯性传感器在所述当前时刻的输出数据，估计所述视觉惯性***在所述当前时刻的状态数据；an estimation module, configured to be based on the state data of the visual inertial system at the last moment, the coordinates of the feature points in the image collected by the visual sensor at the current moment, and the output of the inertial sensor at the current moment data, estimating the state data of the visual-inertial system at the current moment;

标定模块，配置为根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定。The calibration module is configured to calibrate the parameters to be calibrated of the visual inertial system according to the state data of the visual inertial system at the current moment.

根据本公开的一方面，提供了一种电子设备，包括：一个或多个处理器；配置为存储可执行指令的存储器；其中，所述一个或多个处理器被配置为调用所述存储器存储的可执行指令，以执行上述方法。According to an aspect of the present disclosure, there is provided an electronic device comprising: one or more processors; a memory configured to store executable instructions; wherein the one or more processors are configured to invoke the memory storage executable instructions to perform the above method.

根据本公开的一方面，提供了一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。According to an aspect of the present disclosure, there is provided a computer-readable storage medium having computer program instructions stored thereon, the computer program instructions implementing the above method when executed by a processor.

根据本公开实施例的一方面，提供了一种计算机程序，包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行配置为实现上述方法。According to an aspect of the embodiments of the present disclosure, there is provided a computer program, comprising computer-readable code, when the computer-readable code is executed in an electronic device, a processor in the electronic device executes and is configured to implement the above method .

本公开实施例通过获取所述视觉惯性***在上一时刻的状态数据，根据所述视觉惯性***在所述上一时刻的状态数据，所述视觉传感器在当前时刻采集的图像中的特征点的坐标，以及所述惯性传感器在所述当前时刻的输出数据，估计所述视觉惯性***在所述当前时刻的状态数据，并根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定，由此在标定过程中不需要借助标定参照物、标定板、转台等外部设备进行辅助，根据视觉惯性***的状态对待标定参数进行标定，从而能够实现视觉惯性***的传感器参数的自标定，且能够获得较精准的参数。In the embodiment of the present disclosure, by acquiring the state data of the visual inertial system at the last moment, according to the state data of the visual inertial system at the last moment, the characteristics of the feature points in the image collected by the visual sensor at the current moment are coordinates, and the output data of the inertial sensor at the current moment, estimate the state data of the visual inertial system at the current moment, and according to the state data of the visual inertial system at the current moment, the The parameters to be calibrated of the visual inertial system are calibrated. Therefore, in the calibration process, there is no need to use external equipment such as calibration reference objects, calibration plates, and turntables for assistance. The sensor parameters of the system are self-calibrated, and more accurate parameters can be obtained.

应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，而非限制本公开。It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

根据下面参考附图对示例性实施例的详细说明，本公开的其它特征及方面将变得清楚。Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings.

附图说明Description of drawings

此处的附图被并入说明书中并构成本说明书的一部分，这些附图示出了符合本公开的实施例，并与说明书一起用于说明本公开的技术方案。The accompanying drawings, which are incorporated into and constitute a part of this specification, illustrate embodiments consistent with the present disclosure, and together with the description, serve to explain the technical solutions of the present disclosure.

图1示出本公开实施例提供的视觉惯性***的参数标定方法的流程图。FIG. 1 shows a flowchart of a method for calibrating parameters of a visual inertial system provided by an embodiment of the present disclosure.

图2示出本公开实施例提供的视觉惯性***的参数标定装置的框图。FIG. 2 shows a block diagram of a parameter calibration device for a visual inertial system provided by an embodiment of the present disclosure.

图3示出本公开实施例提供的一种电子设备的框图。FIG. 3 shows a block diagram of an electronic device provided by an embodiment of the present disclosure.

图4示出本公开实施例提供的一种电子设备的框图。FIG. 4 shows a block diagram of an electronic device provided by an embodiment of the present disclosure.

具体实施方式Detailed ways

以下将参考附图详细说明本公开的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中术语“至少一种”表示多种中的任意一种或多种中的至少两种的任意组合，例如，包括A、B、C中的至少一种，可以表示包括从A、B和C构成的集合中选择的任意一个或多个元素。另外，为了更好地说明本公开，在下文的实施方式中给出了众多的细节。本领域技术人员应当理解，没有某些细节，本公开同样可以实施。在一些实例中，对于本领域技术人员熟知的方法、手段、元件和电路未作详细描述，以便于凸显本公开的主旨。Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures denote elements that have the same or similar functions. While various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated. The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The term "and/or" in this article is only an association relationship to describe the associated objects, indicating that there can be three kinds of relationships, for example, A and/or B, it can mean that A exists alone, A and B exist at the same time, and A and B exist independently B these three cases. In addition, the term "at least one" herein refers to any combination of any one of the plurality or at least two of the plurality, for example, including at least one of A, B, and C, and may mean including from A, B, and C. Any one or more elements selected from the set of B and C. In addition, in order to better illustrate the present disclosure, numerous details are given in the following embodiments. It will be understood by those skilled in the art that the present disclosure may be practiced without certain details. In some instances, methods, means, components and circuits well known to those skilled in the art have not been described in detail so as not to obscure the subject matter of the present disclosure.

相关技术中，视觉惯性***需要采用离线标定的方式，预先标定好传感器的参数。这种标定方式需要依赖昂贵的设备和专业的技术人员，在标定完成之后将标定的参数配置到视觉惯性***中。然而，在特定的环境下对视觉惯性***进行标定，标定好的参数难以适应不同的作业环境。另外，离线标定的参数往往带有误差，无法实时在线调整。同时，当视觉惯性***所处的设备的机械结构发生变化，或者视觉传感器的焦距是可变化的，或者视觉传感器与惯性传感器非刚性固定时，预先离线标定好的参数通常无法满足当前需求。在无法提供离线标定好的参数的情况下，相关技术中的视觉惯性***将无法在虚拟现实、增强现实、混合现实、无人机、移动机器人和无人驾驶汽车等应用场景中实施。In the related art, the visual inertial system needs to use an offline calibration method to calibrate the parameters of the sensor in advance. This calibration method needs to rely on expensive equipment and professional technicians, and configure the calibrated parameters into the visual inertial system after the calibration is completed. However, when the visual inertial system is calibrated in a specific environment, the calibrated parameters are difficult to adapt to different operating environments. In addition, the parameters calibrated offline often have errors and cannot be adjusted online in real time. At the same time, when the mechanical structure of the equipment where the visual inertial system is located changes, or the focal length of the visual sensor can be changed, or the visual sensor and the inertial sensor are not rigidly fixed, the pre-calibrated parameters usually cannot meet the current needs. Without the ability to provide offline calibrated parameters, the visual-inertial system in related technologies will not be able to be implemented in application scenarios such as virtual reality, augmented reality, mixed reality, drones, mobile robots, and unmanned vehicles.

本公开实施例提供了一种视觉惯性***的参数标定方法及装置、电子设备和介质，能够对视觉惯性***的待标定参数进行自标定。当视觉惯性***没有离线标定好的参数的情况下，能够在定位、建图或者导航等的过程中在线估计待标定参数；当视觉惯性***具有离线标定好的参数的情况下，能够对离线标定好的参数进行优化，提高定位、建图或者导航等的精度。Embodiments of the present disclosure provide a method and device for calibrating parameters of a visual inertial system, an electronic device, and a medium, which can self-calibrate parameters to be calibrated in the visual inertial system. When the visual inertial system does not have offline calibrated parameters, the parameters to be calibrated can be estimated online in the process of positioning, mapping or navigation; when the visual inertial system has offline calibrated parameters, it can be calibrated offline. Good parameters are optimized to improve the accuracy of positioning, mapping or navigation.

图1示出本公开实施例提供的视觉惯性***的参数标定方法的流程图。所述视觉惯性***包括视觉传感器和惯性传感器。所述视觉惯性***的参数标定方法的执行主体可以是视觉惯性***的参数标定装置。例如，所述视觉惯性***的参数标定装置可以是包含所述视觉惯性***的任意设备。例如，所述视觉惯性***的参数标定方法可以由终端设备或服务器或其它处理设备执行。其中，终端设备可以是用户设备(User Equipment，UE)、移动设备、用户终端、终端、蜂窝电话、无绳电话、个人数字助理(Personal Digital Assistant，PDA)、手持设备、计算设备、车载设备或者可穿戴设备等。在一些可能的实现方式中，所述视觉惯性***的参数标定方法可以通过处理器调用存储器中存储的计算机可读指令的方式来实现。如图1所示，所述视觉惯性***的参数标定方法包括步骤S11至步骤S13。FIG. 1 shows a flowchart of a method for calibrating parameters of a visual inertial system provided by an embodiment of the present disclosure. The visual-inertial system includes a visual sensor and an inertial sensor. The execution subject of the parameter calibration method of the visual inertial system may be a parameter calibration device of the visual inertial system. For example, the parameter calibration device of the visual-inertial system may be any device including the visual-inertial system. For example, the parameter calibration method of the visual inertial system may be executed by a terminal device or a server or other processing device. The terminal device may be a user equipment (User Equipment, UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (Personal Digital Assistant, PDA), a handheld device, a computing device, a vehicle-mounted device, or a wearable devices, etc. In some possible implementations, the parameter calibration method of the visual-inertial system may be implemented by the processor calling computer-readable instructions stored in the memory. As shown in FIG. 1 , the parameter calibration method of the visual inertial system includes steps S11 to S13.

在步骤S11中，获取所述视觉惯性***在上一时刻的状态数据。In step S11, the state data of the visual inertial system at the last moment is acquired.

在本公开实施例中，视觉惯性***可以表示结合视觉传感器和惯性传感器进行位移和姿态的估计，从而进行定位、建图、导航等中的至少之一的***。视觉惯性***有时也可以被称为视觉惯性里程计(Visual-Inertial Odometry，VIO)、视觉惯性导航***(Visual-Inertial Navigation System，VINS)、视觉惯性SLAM(Visual-Inertial Simultaneous Localization And Mapping，VI-SLAM，使用视觉传感器和惯性传感器融合的同时定位与地图构建)***等。其中，所述视觉传感器可以指利用光学元件和成像装置获取外部环境图像信息的仪器。所述视觉传感器可以是单目视觉传感器、双目视觉传感器、多目视觉传感器、RGBD(Red，红；Green，绿；Blue，蓝；Deep，深度)视觉传感器等。例如，所述视觉传感器可以采用单目相机、双目相机、多目相机或者RGBD相机等。所述惯性传感器可以指利用传感质量的惯性力进行测量的传感器。所述惯性传感器可以包括三轴的加速度计和三轴的陀螺仪。所述惯性传感器也可以被称作惯性测量单元(Inertial Measurement Unit，IMU)。例如，所述惯性传感器可以采用包含加速度计和陀螺仪的消费级IMU，还可以采用高精度惯性导航***、捷联惯性导航***等。In an embodiment of the present disclosure, a visual-inertial system may represent a system that combines visual sensors and inertial sensors to estimate displacement and attitude, thereby performing at least one of positioning, mapping, navigation, and the like. Visual-inertial systems can sometimes be called visual-inertial odometry (VIO), visual-inertial navigation systems (VINS), visual-inertial SLAM (Visual-Inertial Simultaneous Localization And Mapping, VI- SLAM, simultaneous localization and map construction using fusion of visual and inertial sensors) systems, etc. Wherein, the visual sensor may refer to an instrument that uses optical elements and imaging devices to obtain image information of the external environment. The vision sensor may be a monocular vision sensor, a binocular vision sensor, a multi-eye vision sensor, an RGBD (Red, Red; Green, Green; Blue, Blue; Deep, depth) vision sensor and the like. For example, the visual sensor may use a monocular camera, a binocular camera, a multi-eye camera, or an RGBD camera. The inertial sensor may refer to a sensor that uses the inertial force of the sensing mass to measure. The inertial sensor may include a three-axis accelerometer and a three-axis gyroscope. The inertial sensor may also be referred to as an inertial measurement unit (Inertial Measurement Unit, IMU). For example, the inertial sensor may use a consumer-grade IMU including an accelerometer and a gyroscope, and may also use a high-precision inertial navigation system, a strapdown inertial navigation system, and the like.

在本公开实施例中，所述视觉惯性***在上一时刻的状态数据，可以表示在所述上一时刻对所述视觉惯性***的状态进行估计，得到的表示所述视觉惯性***在所述上一时刻的状态的数据。In the embodiment of the present disclosure, the state data of the visual-inertial system at the last moment may indicate that the state of the visual-inertial system is estimated at the last moment, and the obtained state data indicates that the visual-inertial system is at the The data of the state at the last moment.

在步骤S12中，根据所述视觉惯性***在所述上一时刻的状态数据，所述视觉传感器在当前时刻采集的图像中的特征点的坐标，以及所述惯性传感器在所述当前时刻的输出数据，估计所述视觉惯性***在所述当前时刻的状态数据。In step S12, according to the state data of the visual inertial system at the last moment, the coordinates of the feature points in the image collected by the visual sensor at the current moment, and the output of the inertial sensor at the current moment data, and estimate the state data of the visual-inertial system at the current moment.

在本公开实施例中，两个相邻时刻(例如所述当前时刻与所述上一时刻)之间的时间差，可以大于或等于所述视觉传感器采集图像的频率的倒数。例如，两个相邻时刻之间的时间差，可以等于所述视觉传感器采集图像的频率的倒数。在这个例子中，可以在视觉传感器每次采集到新的图像时，重新估计视觉惯性***的状态数据。又如，两个相邻时刻之间的时间差，可以等于所述视觉传感器采集图像的频率的倒数的K倍，其中，K为大于1的整数。在一个例子，所述上一时刻可以记为第i时刻，所述当前时刻可以记为第i+1时刻。In this embodiment of the present disclosure, the time difference between two adjacent moments (for example, the current moment and the previous moment) may be greater than or equal to the inverse of the frequency at which the vision sensor collects images. For example, the time difference between two adjacent moments may be equal to the inverse of the frequency at which the vision sensor collects images. In this example, the state data of the visual-inertial system can be re-estimated each time a new image is acquired by the vision sensor. For another example, the time difference between two adjacent moments may be equal to K times the inverse of the frequency at which the vision sensor collects images, where K is an integer greater than 1. In one example, the last moment may be recorded as the i-th moment, and the current moment may be recorded as the i+1-th moment.

在本公开实施例中，随着所述视觉惯性***的位置、姿态、运动状态等中的至少之一的变化，所述视觉传感器采集的图像以及所述惯性传感器输出的数据将发生变化。所述视觉传感器采集的图像中的特征点，可以包括所述视觉传感器采集的图像中的角点、关键点等，在此不作限定。所述惯性传感器输出的数据，可以包括所述惯性传感器的加速度计输出的数据和/或所述惯性传感器的陀螺仪输出的数据。在本公开实施例中，可以利用所述视觉传感器在当前时刻采集的图像中的多个特征点的坐标，以及所述惯性传感器输出的数据，对所述视觉惯性***在所述当前时刻的状态数据进行估计。其中，所述视觉惯性***在所述当前时刻的状态数据，可以表示在所述当前时刻对所述视觉惯性***的状态进行估计，得到的表示所述视觉惯性***在所述当前时刻的状态的数据。In the embodiment of the present disclosure, as at least one of the position, posture, motion state, etc. of the visual inertial system changes, the image collected by the visual sensor and the data output by the inertial sensor will change. The feature points in the image collected by the vision sensor may include corner points, key points, etc. in the image collected by the vision sensor, which are not limited herein. The data output by the inertial sensor may include data output by an accelerometer of the inertial sensor and/or data output by a gyroscope of the inertial sensor. In this embodiment of the present disclosure, the coordinates of multiple feature points in the image collected by the visual sensor at the current moment and the data output by the inertial sensor can be used to determine the state of the visual-inertial system at the current moment. data are estimated. Wherein, the state data of the visual-inertial system at the current moment may indicate that the state of the visual-inertial system is estimated at the current moment, and the obtained state data representing the state of the visual-inertial system at the current moment data.

在步骤S13中，根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定。In step S13, the parameters to be calibrated of the visual inertial system are calibrated according to the state data of the visual inertial system at the current moment.

在本公开实施例中，所述视觉惯性***的待标定参数可以包括所述视觉传感器的内参、所述视觉传感器的畸变参数、所述惯性传感器与所述视觉传感器之间的坐标转换参数以及所述视觉传感器与所述惯性传感器之间的时间偏移等中的至少之一。其中，所述视觉传感器的内参可以包括所述视觉传感器的焦距f _x和f _y，以及所述视觉传感器的光心坐标c _x和c _y。所述视觉传感器的畸变参数可以包括视觉传感器的径向畸变参数k ₁和k ₂，以及视觉传感器的切向畸变参数p ₁和p ₂。所述惯性传感器与所述视觉传感器之间的坐标转换参数可以包括所述惯性传感器与所述视觉传感器之间的平移参数和/或所述惯性传感器与所述视觉传感器之间的旋转参数。例如，所述惯性传感器与所述视觉传感器之间的坐标转换参数可以包括所述惯性传感器到所述视觉传感器的平移参数和/或所述惯性传感器到所述视觉传感器的旋转参数，或者，所述惯性传感器与所述视觉传感器之间的坐标转换参数可以包括所述视觉传感器到所述惯性传感器的平移参数和/或所述视觉传感器到所述惯性传感器的旋转参数。例如，所述惯性传感器与所述视觉传感器之间的坐标转换参数可以包括所述惯性传感器到所述视觉传感器的平移参数(p _extri)和所述惯性传感器到所述视觉传感器的旋转参数(q _extri)。其中，所述惯性传感器到所述视觉传感器的平移参数，可以表示从所述惯性传感器的坐标系转换到所述视觉传感器的相机坐标系运动的平移分量；所述惯性传感器到所述视觉传感器的旋转参数，可以表示从所述惯性传感器的坐标系转换到所述视觉传感器的相机坐标系运动的旋转分量。所述视觉传感器与所述惯性传感器之间的时间偏移可以记为t _d，可以表示在同一时刻所述视觉传感器的时钟与所述惯性传感器的时钟之间的差值。 In the embodiment of the present disclosure, the parameters to be calibrated of the visual inertial system may include internal parameters of the visual sensor, distortion parameters of the visual sensor, coordinate conversion parameters between the inertial sensor and the visual sensor, and all parameters of the visual sensor. at least one of a time offset between the visual sensor and the inertial sensor, and the like. The internal parameters of the visual sensor may include the focal lengths f _x and f _y of the visual sensor, and the optical center coordinates c _x and _cy of the visual sensor. The distortion parameters of the vision sensor may include radial distortion parameters k ₁ and k ₂ of the vision sensor, and tangential distortion parameters p ₁ and p ₂ of the vision sensor. The coordinate conversion parameters between the inertial sensor and the visual sensor may include translation parameters between the inertial sensor and the visual sensor and/or rotation parameters between the inertial sensor and the visual sensor. For example, the coordinate conversion parameter between the inertial sensor and the visual sensor may include a translation parameter from the inertial sensor to the visual sensor and/or a rotation parameter from the inertial sensor to the visual sensor, or, the The coordinate conversion parameters between the inertial sensor and the visual sensor may include translation parameters from the visual sensor to the inertial sensor and/or rotation parameters from the visual sensor to the inertial sensor. For example, the coordinate conversion parameter between the inertial sensor and the visual sensor may include a translation parameter (p _extri ) from the inertial sensor to the visual sensor and a rotation parameter (q) from the inertial sensor to the visual sensor _extri ). Wherein, the translation parameter from the inertial sensor to the visual sensor may represent the translational component of the movement from the coordinate system of the inertial sensor to the camera coordinate system of the visual sensor; the translation parameter from the inertial sensor to the visual sensor The rotation parameter may represent the rotational component of the motion transformed from the coordinate system of the inertial sensor to the camera coordinate system of the vision sensor. The time offset between the visual sensor and the inertial sensor can be denoted as t _d , which can represent the difference between the clock of the visual sensor and the clock of the inertial sensor at the same time.

本公开实施例通过获取视觉惯性***在上一时刻的状态数据，根据视觉惯性***在所述上一时刻的状态数据，视觉传感器在当前时刻采集的图像中的特征点的坐标，以及惯性传感器在所述当前时刻的输出数据，估计所述视觉惯性***在所述当前时刻的状态数据，并根据所述视觉惯性***在所述当前时刻的状态数据，对视觉惯性***的待标定参数进行标定，由此在标定过程中不需要借助标定参照物、标定板、转台等外部设备进行辅助，根据视觉惯性***的状态对待标定参数进行标定，从而能够实现视觉惯性***的传感器参数的自标定，且能够获得较精准的参数。The embodiment of the present disclosure obtains the state data of the visual inertial system at the last moment, according to the state data of the visual inertial system at the last moment, the coordinates of the feature points in the image collected by the visual sensor at the current moment, and the inertial sensor at the current moment. The output data of the current moment, estimate the state data of the visual inertial system at the current moment, and calibrate the parameters to be calibrated of the visual inertial system according to the state data of the visual inertial system at the current moment, Therefore, in the calibration process, there is no need to use external equipment such as calibration reference objects, calibration plates, turntables, etc. to assist, and the parameters to be calibrated are calibrated according to the state of the visual inertial system, so that the self-calibration of the sensor parameters of the visual inertial system can be realized, and can Get more precise parameters.

在一种可能的实现方式中，所述视觉惯性***在所述上一时刻的状态数据包括：所述视觉传感器在所述上一时刻的状态数据、所述惯性传感器在所述上一时刻的状态数据以及所述待标定参数在所述上一时刻的数值；所述视觉惯性***在所述当前时刻的状态数据包括：所述视觉传感器在所述当前时刻的状态数据、所述惯性传感器在所述当前时刻的状态数据以及所述待标定参数在所述当前时刻的数值。在该实现方式中，所述视觉传感器的状态数据可以表示能够体现所述视觉传感器的运动状态的数据。相应地，所述视觉传感器在所述上一时刻的状态数据，可以表示能够体现所述视觉传感器在上一时刻的运动状态的数据；所述视觉传感器在所述当前时刻的状态数据，可以表示能够体现所述视觉传感器在当前时刻的运动状态的数据。所述惯性传感器的状态数据可以表示能够体现所述惯性传感器的状态的数据。相应地，所述惯性传感器在所述上一时刻的状态数据，可以表示能够体现所述惯性传感器在上一时刻的状态的数据；所述惯性传感器在所述当前时刻的状态数据，可以表示能够体现所述惯性传感器在当前时刻的状态的数据。基于该实现方式中所述视觉惯性***的状态数据进行视觉惯性***的传感器参数的自标定，能够获得较精准的参数。In a possible implementation manner, the state data of the visual inertial system at the last moment includes: the state data of the visual sensor at the last moment, the state data of the inertial sensor at the last moment status data and the value of the parameter to be calibrated at the previous moment; the status data of the visual inertial system at the current moment includes: the status data of the visual sensor at the current moment, the inertial sensor at the current moment The state data at the current moment and the value of the parameter to be calibrated at the current moment. In this implementation manner, the state data of the visual sensor may represent data that can reflect the motion state of the visual sensor. Correspondingly, the state data of the vision sensor at the last moment may represent data that can reflect the motion state of the vision sensor at the last moment; the state data of the vision sensor at the current moment may represent Data that can reflect the motion state of the visual sensor at the current moment. The state data of the inertial sensor may represent data capable of representing the state of the inertial sensor. Correspondingly, the state data of the inertial sensor at the last moment may represent data that can reflect the state of the inertial sensor at the last moment; the state data of the inertial sensor at the current moment may represent data that can reflect the state of the inertial sensor at the current moment. Data representing the state of the inertial sensor at the current moment. Based on the state data of the visual inertial system in this implementation manner, self-calibration of the sensor parameters of the visual inertial system can be performed, and more accurate parameters can be obtained.

作为该实现方式的一个示例，所述视觉传感器在所述上一时刻的状态数据包括：所述视觉传感器在所述上一时刻的平移参数和所述视觉传感器在所述上一时刻的旋转参数；所述视觉传感器在所述当前时刻的状态数据包括：所述视觉传感器在所述当前时刻的平移参数和所述视觉传感器在所述当前时刻的旋转参数。在该示例中，所述视觉传感器的状态数据包括所述视觉传感器的平移参数和旋转参数。基于该示例中的视觉传感器的状态数据进行视觉惯性***的传感器参数的自标定，有助于提高标定效果。当然，本领域技术人员可以根据实际应用场景需求灵活选择所述视觉传感器的状态数据。例如，所述视觉传感器的状态数据可以仅包括所述视觉传感器的平移参数，或者可以仅包括所述视觉传感器的旋转参数，或者可以包括所述视觉传感器的其他参数，在此不作限定。As an example of this implementation, the state data of the vision sensor at the last moment includes: translation parameters of the vision sensor at the last moment and rotation parameters of the vision sensor at the last moment ; The state data of the vision sensor at the current moment includes: translation parameters of the vision sensor at the current moment and rotation parameters of the vision sensor at the current moment. In this example, the state data of the vision sensor includes translation parameters and rotation parameters of the vision sensor. The self-calibration of the sensor parameters of the visual-inertial system based on the state data of the visual sensor in this example helps to improve the calibration effect. Of course, those skilled in the art can flexibly select the state data of the visual sensor according to the actual application scenario requirements. For example, the state data of the vision sensor may only include translation parameters of the vision sensor, or may only include rotation parameters of the vision sensor, or may include other parameters of the vision sensor, which are not limited herein.

作为该实现方式的一个示例，所述惯性传感器在所述上一时刻的状态数据包括：所述惯性传感器在所述上一时刻的速度；所述惯性传感器在所述当前时刻的状态数据包括：所述惯性传感器在所述当前时刻的速度。在该示例中，所述惯性传感器的状态数据包括所述惯性传感器的速度。基于该示例中的惯性传感器的状态数据进行视觉惯性***的传感器参数的自标定，有助于提高标定效果。As an example of this implementation, the state data of the inertial sensor at the last moment includes: the speed of the inertial sensor at the last moment; the state data of the inertial sensor at the current moment includes: The speed of the inertial sensor at the current moment. In this example, the state data of the inertial sensor includes the speed of the inertial sensor. The self-calibration of the sensor parameters of the visual inertial system based on the state data of the inertial sensor in this example helps to improve the calibration effect.

在一个例子中，所述惯性传感器在所述上一时刻的状态数据还包括：所述惯性传感器在所述上一时刻的加速度计的零偏以及所述惯性传感器在所述上一时刻的陀螺仪的零偏；所述惯性传感器在所述当前时刻的状态数据还包括：所述惯性传感器在所述当前时刻的加速度计的零偏以及所述惯性传感器在所述当前时刻的陀螺仪的零偏。在这个例子中，所述惯性传感器的状态数据包括所述惯性传感器的速度、加速度计的零偏和陀螺仪的零偏。其中，加速度计的零偏表示加速度计的输入为0时加速度计的输出，陀螺仪的零偏表示陀螺仪的输入为0时陀螺仪的输出。基于这个例子中的惯性传感器的状态数据进行视觉惯性***的传感器参数的自标定，有助于进一步提高采用消费级的惯性传感器的视觉惯性***的标定效果。In an example, the state data of the inertial sensor at the last moment further includes: the zero offset of the accelerometer of the inertial sensor at the last moment and the gyro of the inertial sensor at the last moment The state data of the inertial sensor at the current moment further includes: the zero offset of the accelerometer of the inertial sensor at the current moment and the zero offset of the gyroscope of the inertial sensor at the current moment partial. In this example, the inertial sensor state data includes the inertial sensor's velocity, the accelerometer's bias, and the gyroscope's bias. The zero offset of the accelerometer represents the output of the accelerometer when the input of the accelerometer is 0, and the zero offset of the gyroscope represents the output of the gyroscope when the input of the gyroscope is 0. The self-calibration of the sensor parameters of the visual inertial system based on the state data of the inertial sensor in this example is helpful to further improve the calibration effect of the visual inertial system using consumer-grade inertial sensors.

当然，本领域技术人员可以根据实际应用场景需求灵活选择所述惯性传感器的状态数据。例如，所述惯性传感器的状态数据可以包括所述惯性传感器的速度和加速度计的零偏，不包括陀螺仪的零偏。又如，所述惯性传感器的状态数据可以包括所述惯性传感器的速度和陀螺仪的零偏，不包括加速度计的零偏。又如，所述惯性传感器的状态数据可以仅包括加速度计的零偏或者陀螺仪的零偏。Of course, those skilled in the art can flexibly select the state data of the inertial sensor according to the requirements of the actual application scenario. For example, the state data of the inertial sensor may include the speed of the inertial sensor and the bias of the accelerometer, but not the bias of the gyroscope. For another example, the state data of the inertial sensor may include the speed of the inertial sensor and the bias of the gyroscope, but not the bias of the accelerometer. For another example, the state data of the inertial sensor may only include the zero offset of the accelerometer or the zero offset of the gyroscope.

当然，本领域技术人员可以也根据实际应用场景需求灵活设置所述视觉惯性***的状态数据中包括的数据，本公开实施例对此不作限定。在所述视觉惯性***的状态数据中，例如，可以采用所述惯性传感器的平移参数替代所述视觉传感器的平移参数，又如，可以采用所述惯性传感器的旋转参数替代所述视觉传感器的旋转参数，又如，可以采用所述视觉传感器的速度替代所述惯性传感器的速度，又如，可以采用其他衡量所述惯性传感器的稳定性和/或精度的参数替代所述惯性传感器的加速度计的零偏和所述惯性传感器的陀螺仪的零偏。Of course, those skilled in the art may also flexibly set the data included in the state data of the visual inertial system according to actual application scenario requirements, which is not limited in this embodiment of the present disclosure. In the state data of the visual-inertial system, for example, the translation parameter of the inertial sensor may be used to replace the translation parameter of the visual sensor, and for example, the rotation parameter of the inertial sensor may be used to replace the rotation of the visual sensor parameters, for another example, the speed of the visual sensor may be used to replace the speed of the inertial sensor, and for another example, other parameters that measure the stability and/or accuracy of the inertial sensor may be used to replace the speed of the accelerometer of the inertial sensor. Zero bias and zero bias of the inertial sensor's gyroscope.

在一种可能的实现方式中，所述视觉惯性传感器的状态数据可以包括视觉传感器的平移参数、视觉传感器的旋转参数、惯性传感器的速度、惯性传感器的加速度计的零偏、惯性传感器的陀螺仪的零偏和待标定参数。例如，对于手机等设备中的消费级的惯性传感器，可以在视觉惯性传感器的状态数据中加入加速度计的零偏和陀螺仪的零偏。在另一种可能的实现方式中，所述视觉惯性传感器的状态数据可以包括视觉传感器的平移参数、视觉传感器的旋转参数、惯性传感器的速度和待标定参数。例如，对于高精度的惯性传感器，可以不考虑加速度计的零偏和陀螺仪的零偏。In a possible implementation manner, the state data of the visual inertial sensor may include translation parameters of the visual sensor, rotation parameters of the visual sensor, speed of the inertial sensor, zero offset of the accelerometer of the inertial sensor, and gyroscope of the inertial sensor. The zero offset and the parameters to be calibrated. For example, for consumer-grade inertial sensors in mobile phones and other devices, the zero bias of the accelerometer and the zero bias of the gyroscope can be added to the state data of the visual inertial sensor. In another possible implementation manner, the state data of the visual inertial sensor may include translation parameters of the visual sensor, rotation parameters of the visual sensor, speed of the inertial sensor, and parameters to be calibrated. For example, for a high-precision inertial sensor, the zero offset of the accelerometer and the zero offset of the gyroscope can be ignored.

在一种可能的实现方式中，可以构建如式1所示的视觉惯性***的状态数据：In a possible implementation, the state data of the visual-inertial system can be constructed as shown in Equation 1:

其中，(·)C可以表示视觉传感器的相机坐标系，(·)I可以表示惯性传感器的坐标系。视觉传感器和惯性传感器都可以看做刚体，刚体的运动可以是六个自由度的，分别是三个自由度的平移运动和三个自由度的旋转运动；

表示视觉传感器的平移参数，

可以是三维的参数，

可以表示视觉传感器在上一时刻的平移参数，

可以表示视觉传感器在当前时刻的平移参数；

表示视觉传感器的旋转参数，

可以是三维的参数，

可以表示视觉传感器在上一时刻的旋转参数，

可以表示视觉传感器在当前时刻的旋转参数；

表示惯性传感器的速度，

可以是三维的参数，

可以表示惯性传感器在上一时刻的速度，

可以表示惯性传感器在当前时刻的速度；

表示惯性传感器的加速度计的零偏，

可以是三维的参数，

可以表示惯性传感器在上一时刻的加速度计的零偏，

可以表示惯性传感器在当前时刻的加速度计的零偏；零偏(bias)也可以称为随机游走；

表示惯性传感器的陀螺仪的零偏，

可以是三维的参数，

可以表示惯性传感器在上一时刻的陀螺仪的零偏，

可以表示惯性传感器在当前时刻的陀螺仪的零偏；X _calib表示待标定参数。作为该实现方式的一个示例，X _calib可以包括如式2所示的参数： Among them, (·)C can represent the camera coordinate system of the vision sensor, and (·)I can represent the coordinate system of the inertial sensor. Both the visual sensor and the inertial sensor can be regarded as a rigid body, and the motion of the rigid body can be six degrees of freedom, namely translational motion with three degrees of freedom and rotational motion with three degrees of freedom;

represents the translation parameter of the vision sensor,

can be a three-dimensional parameter,

can represent the translation parameters of the vision sensor at the previous moment,

It can represent the translation parameters of the vision sensor at the current moment;

represents the rotation parameter of the vision sensor,

can be a three-dimensional parameter,

It can represent the rotation parameter of the vision sensor at the last moment,

It can represent the rotation parameters of the vision sensor at the current moment;

represents the velocity of the inertial sensor,

can be a three-dimensional parameter,

It can represent the speed of the inertial sensor at the last moment,

It can represent the speed of the inertial sensor at the current moment;

represents the zero offset of the inertial sensor's accelerometer,

can be a three-dimensional parameter,

It can represent the zero offset of the accelerometer of the inertial sensor at the last moment,

It can represent the zero bias of the accelerometer of the inertial sensor at the current moment; the zero bias (bias) can also be called a random walk;

represents the zero bias of the gyroscope of the inertial sensor,

can be a three-dimensional parameter,

It can represent the zero bias of the gyroscope of the inertial sensor at the previous moment,

It can represent the zero bias of the gyroscope of the inertial sensor at the current moment; X _calib represents the parameter to be calibrated. As an example of this implementation, X _calib can include parameters as shown in Equation 2:

X _calib＝[f _x f _y c _x c _y k ₁ k ₂ p ₁ p ₂ p _extri q _extri t _d] 式2， X _calib = [f _x f _y c _x c _y k ₁ k ₂ p ₁ p ₂ p _extri q _extri t _d ] Formula 2,

其中，f _x、f _y、c _x、c _y、k ₁、k ₂、p ₁和p ₂分别是一维的参数，f _x、f _y为视觉传感器的焦距、c _x、c _y为视觉传感器的光心坐标，k ₁、k ₂为视觉传感器的径向畸变，p ₁和p ₂为视觉传感器的切向畸变；p _extri和q _extri可以分别是三维的参数，分别为惯性传感器到视觉传感器的平移参数和旋转参数；t _d是一维的参数，表示视觉惯性***在同一时刻视觉传感器的时钟与惯性传感器的时钟之间的差，即视觉传感器与所述惯性传感器之间的时间偏移。在一个例子中，t _d可以采用式3确定： Among them, f _x , f _y , c _x , _cy , k ₁ , k ₂ , p ₁ and p ₂ are one-dimensional parameters respectively, f _x and f _y are the focal length of the vision sensor, and c _x and c _y are the visual The optical center coordinates of the sensor, k ₁ and k ₂ are the radial distortion of the vision sensor, p ₁ and p ₂ are the tangential distortion of the vision sensor; p _extri and q _extri can be three-dimensional parameters, respectively, from the inertial sensor to the vision sensor The translation parameter and rotation parameter of the sensor; t _d is a one-dimensional parameter, which represents the difference between the visual sensor clock and the inertial sensor clock of the visual inertial system at the same time, that is, the time offset between the visual sensor and the inertial sensor. shift. In one example, t _d can be determined using Equation 3:

t _d＝t _C-t _I 式3， t _d =t _C -t _I formula 3,

其中，t _C表示视觉传感器的时钟，t _I表示惯性传感器的时钟。 where t _C represents the clock of the visual sensor and t _I represents the clock of the inertial sensor.

本领域技术人员可以根据实际应用场景需求确定待标定参数包括哪些参数，在此不作限定。在本公开实施例中，在具有离线标定好的参数的情况下，可以将离线标定好的参数的值作为该参数的初始值，并可以通过自标定更新该参数的值；在没有离线标定的参数的情况下，可以设置待标定参数的初始值。Those skilled in the art can determine which parameters are included in the parameters to be calibrated according to the actual application scenario requirements, which are not limited here. In the embodiment of the present disclosure, in the case of a parameter that has been calibrated offline, the value of the parameter calibrated offline can be used as the initial value of the parameter, and the value of the parameter can be updated through self-calibration; In the case of parameters, you can set the initial value of the parameter to be calibrated.

在一种可能的实现方式中，所述视觉传感器的内参包括所述视觉传感器的焦距；在所述开启对所述视觉传感器的内参的标定之前，所述方法还包括：在获取得到所述视觉传感器的视场角的情况下，根据所述视觉传感器采集的图像的宽度以及所述视觉传感器的视场角，确定所述视觉传感器的焦距的初始值；或者，在获取不到所述视觉传感器的视场角的情况下，根据所述视觉传感器采集的图像的宽度和高度，确定所述视觉传感器的焦距的初始值。根据该实现方式确定的视觉传感器的焦距的初始值进行视觉惯性***的参数标定，有助于提高标定精度。例如，可以采用式4确定视觉传感器的焦距f _x、f _y的初始值： In a possible implementation manner, the internal reference of the visual sensor includes the focal length of the visual sensor; before the enabling calibration of the internal reference of the visual sensor, the method further includes: after obtaining the visual sensor In the case of the visual field angle of the sensor, the initial value of the focal length of the visual sensor is determined according to the width of the image collected by the visual sensor and the visual field angle of the visual sensor; or, if the visual sensor cannot be obtained In the case of an angle of view of , the initial value of the focal length of the vision sensor is determined according to the width and height of the image collected by the vision sensor. The parameter calibration of the visual inertial system is performed according to the initial value of the focal length of the visual sensor determined in this implementation manner, which helps to improve the calibration accuracy. For example, Equation 4 can be used to determine the initial values of the focal lengths f _x and f _y of the vision sensor:

其中，W和H分别表示视觉传感器采集的图像的宽度和高度，C _fov表示视觉传感器的视场角。 Among them, W and H represent the width and height of the image collected by the vision sensor, respectively, and C _fov represents the field of view of the vision sensor.

在一种可能的实现方式中，所述视觉传感器的内参包括所述视觉传感器的光心坐标；在所述开启对所述视觉传感器的内参的标定之前，所述方法还包括：根据所述视觉传感器采集的图像的宽度和高度，确定所述视觉传感器的光心坐标的初始值。根据该实现方式确定的视觉传感器的光心坐标的初始值进行视觉惯性***的参数的标定，有助于提高标定精度。例如，可以采用式5和式6确定视觉传感器的光心坐标c _x、c _y的初始值： In a possible implementation manner, the internal reference of the visual sensor includes the optical center coordinates of the visual sensor; before the enabling calibration of the internal reference of the visual sensor, the method further includes: according to the visual sensor The width and height of the image collected by the sensor determine the initial value of the optical center coordinates of the vision sensor. The parameters of the visual inertial system are calibrated according to the initial value of the optical center coordinate of the vision sensor determined by this implementation, which helps to improve the calibration accuracy. For example, Equation 5 and Equation 6 can be used to determine the initial values of the optical center coordinates c _x and _cy of the vision sensor:

在一种可能的实现方式中，视觉传感器的畸变参数k ₁，k ₂，p ₁和p ₂的初始值可以设置为0。在一种可能的实现方式中，时间偏移t _d的初始值可以设置为0。在一种可能的实现方式中，惯性传感器到视觉传感器的平移参数p _extri的初始值可以设置为[0 0 0] ^T。在一种可能的实现方式中，惯性传感器到视觉传感器的旋转参数q _extri的初始值可以设置为I ^3×3，其中，I表示单位矩阵。需要说明的是，尽管以以上实现方式介绍了待标定参数的初始值的设置方式如上，但本领域技术人员能够理解，本公开实施例应不限于此。本领域技术人员可以根据实际应用场景需求和/或经验灵活设置待标定参数的初始值，在此不作限定。 In a possible implementation, the initial values of the distortion parameters k ₁ , k ₂ , p ₁ and p ₂ of the vision sensor may be set to 0. In a possible implementation, the initial value of the time offset t _d may be set to 0. In a possible implementation, the initial value of the translation parameter p _extri from the inertial sensor to the vision sensor can be set to [0 0 0] ^T . In a possible implementation, the initial value of the rotation parameter q _extri from the inertial sensor to the vision sensor can be set to I ^3×3 , where I represents the identity matrix. It should be noted that although the above implementation manners describe the setting manner of the initial values of the parameters to be calibrated as above, those skilled in the art can understand that the embodiments of the present disclosure should not be limited thereto. Those skilled in the art can flexibly set the initial values of the parameters to be calibrated according to actual application scenario requirements and/or experience, which are not limited herein.

在一种可能的实现方式中，视觉传感器采集的图像中的特征点在视觉传感器的相机坐标系下的三维坐标可以记为P _C＝[X _C Y _C Z _C] ^T。P _C在像平面坐标系下对应的二维坐标

P _C在像素坐标系下对应的坐标π(P _C)可以采用式7确定： In a possible implementation manner, the three-dimensional coordinates of the feature points in the image collected by the vision sensor in the camera coordinate system of the vision sensor may be recorded as P _C =[X _C Y _C Z _C ] ^T . The corresponding two _- dimensional coordinates of PC in the image plane coordinate system

The coordinate π(P _C ) corresponding to P _C in the pixel coordinate system can be determined by formula 7:

根据小孔视觉传感器模型，可以得到式8至式11：According to the pinhole vision sensor model, Equations 8 to 11 can be obtained:

k _r＝1+k ₁r ²+k ₂r ⁴ 式9， k _r =1+k ₁ r ² +k ₂ r ⁴ Equation 9,

其中，x _c、y _c为特征点在像平面坐标系下对应的二维坐标；k ₁、k ₂为视觉传感器的径向畸变；p ₁和p ₂为视觉传感器的切向畸变；r为特征点到像平面坐标系的原定的距离；k _r、p _x、p _y为视觉传感器的畸变系数。 Among them, x _c , y _c are the corresponding two-dimensional coordinates of the feature point in the image plane coordinate system; k ₁ , k ₂ are the radial distortion of the vision sensor; p ₁ and p ₂ are the tangential distortion of the vision sensor; r is the The original distance from the feature point to the image plane coordinate system; k _r , p _x , and _py are the distortion coefficients of the vision sensor.

p _C去除畸变之后的坐标p _C′＝[x _C′y _C′] ^T，其中x _C′和y _C′分别可以采用式12和式13得到： The coordinate p _C ′=[x _C ′y _C ′] ^T after the distortion is removed from p _C , where x _C ′ and y _C ′ can be obtained by using Equation 12 and Equation 13 respectively:

x _C′＝x _C×k _r+p _x 式12， x _C ′=x _C ×k _r +p _x Formula 12,

y _C′＝y _C×k _r+p _y 式13。 y _C ′= _y _C ×k _r +py Equation 13.

P _C在像素坐标系下对应的去除畸变之后的坐标

The corresponding coordinates of PC after removing _distortion in the pixel coordinate system

在一种可能的实现方式中，如式14所示，视觉传感器的平移参数

可以根据惯性传感器的平移参数

和惯性传感器到视觉传感器的平移参数p _extri确定： In a possible implementation, as shown in Equation 14, the translation parameter of the vision sensor

can be based on the translation parameters of the inertial sensor

and the translation parameter p _extri from the inertial sensor to the vision sensor is determined:

如式15所示，视觉传感器的旋转参数

可以根据惯性传感器的旋转参数

和惯性传感器到视觉传感器的旋转参数q _extri确定： As shown in Equation 15, the rotation parameters of the vision sensor

can be based on the rotational parameters of the inertial sensor

and the rotational parameter q _extri from the inertial sensor to the vision sensor is determined:

如式16至式18所示，惯性传感器的平移参数

旋转参数

和速度

可以通过积分进行求取： As shown in Equation 16 to Equation 18, the translation parameters of the inertial sensor

Rotation parameter

and speed

It can be obtained by integrating:

其中，(·)(i)和(·)(i+1)分别表示第i时刻(即上一时刻)和第i+1时刻(即当前时刻)的数据，

和

分别表示加速度计和陀螺仪输出的数据，

和

分别表示加速度计和陀螺仪输出的数据的噪声项。其中，

和

分别可以采用式19和式20确定： Among them, (·)(i) and (·)(i+1) represent the data at the ith moment (ie the previous moment) and the i+1th moment (ie the current moment), respectively,

and

represent the data output by the accelerometer and gyroscope, respectively,

and

represent the noise terms of the data output by the accelerometer and gyroscope, respectively. in,

and

It can be determined by formula 19 and formula 20 respectively:

其中，a _I和w _I分别表示加速度计和陀螺仪的真实数据；

是白噪声，可以查表获得，也可以默认为0，也可以使用

求导获得，例如，

是白噪声，可以查表获得，也可以默认为0，也可以使用

求导获得，例如，

Among them, a _I and w _I represent the real data of the accelerometer and gyroscope, respectively;

It is white noise, which can be obtained by looking up the table, or it can be 0 by default, or it can be used

Derive to get, for example,

在一种可能的实现方式中，视觉惯性***的状态数据对应的雅可比矩阵可以表示为式21：In a possible implementation, the Jacobian matrix corresponding to the state data of the visual-inertial system can be expressed as Equation 21:

其中，15表示J _p、J _q，J _v，J _ba和J _bg的维度的总和，m表示J _calib中待标定参数的维度(即待标定参数的数量)。J _p表示视觉传感器的平移参数对应的雅可比矩阵，J _q表示视觉传感器的旋转参数对应的雅可比矩阵，J _v表示惯性传感器的速度对应的雅可比矩阵，J _ba表示惯性传感器的加速度计的零偏对应的雅可比矩阵，J _bg表示惯性传感器的陀螺仪的零偏对应的雅可比矩阵，J _calib表示待标定参数对应的雅可比矩阵。J _p、J _q，J _v，J _ba和J _bg分别可以采用式22至式26确定： Among them, 15 represents the sum of the dimensions of J _p , J _q , J _v , J _ba and J _bg , and m represents the dimension of the parameters to be calibrated in J _calib (ie the number of parameters to be calibrated). J _p represents the Jacobian matrix corresponding to the translation parameter of the visual sensor, J _q represents the Jacobian matrix corresponding to the rotation parameter of the visual sensor, J _v represents the Jacobian matrix corresponding to the velocity of the inertial sensor, and _Jba represents the accelerometer of the inertial sensor. The Jacobian matrix corresponding to the zero offset, J _bg represents the Jacobian matrix corresponding to the zero offset of the gyroscope of the inertial sensor, and J _calib represents the Jacobian matrix corresponding to the parameter to be calibrated. J _p , J _q , J _v , J _ba and J _bg can be determined using Equations 22 to 26, respectively:

其中，

表示惯性传感器的平移参数对应的残差，

表示惯性传感器的旋转参数对应的残差，

表示惯性传感器的速度对应的残差，g表示重力加速度，Δt表示惯性传感器输出数据的频率的倒数。 in,

represents the residual corresponding to the translation parameter of the inertial sensor,

represents the residual corresponding to the rotation parameter of the inertial sensor,

Represents the residual error corresponding to the velocity of the inertial sensor, g represents the acceleration of gravity, and Δt represents the reciprocal of the frequency of the output data of the inertial sensor.

在一种可能的实现方式中，可以采用式27至式30得到视觉传感器的内参如焦距坐标f _x、f _y以及光心坐标c _x和c _y对应的雅可比矩阵： In a possible implementation, Equation 27 to Equation 30 can be used to obtain the internal parameters of the vision sensor, such as the focal length coordinates f _x , f _y and the Jacobian matrix corresponding to the optical center coordinates c _x and _cy :

在一种可能的实现方式中，可以采用式31至式34得到视觉传感器的畸变参数k ₁，k ₂，p ₁和p ₂对应的雅可比矩阵： In a possible implementation, the Jacobian matrix corresponding to the distortion parameters k ₁ , k ₂ , p ₁ and p ₂ of the vision sensor can be obtained by using Equation 31 to Equation 34:

在一种可能的实现方式中，可以采用式35至式44得到P _C＝[X _C Y _C Z _C] ^T对应重投影的雅可比矩阵，其中，重投影表示在计算机视觉中，通过平面单应矩阵和投影矩阵将一帧图像上的点投影到另一帧图像上。 In a possible implementation manner, Equation 35 to Equation 44 can be used to obtain the Jacobian matrix of P _C =[X _C Y _C Z _C ] ^T corresponding to reprojection, where reprojection is expressed in computer vision, through the plane single The response and projection matrices project points on one image onto another.

在一种可能的实现方式中，在视觉惯性***初始化之后，可以采用式45至式48确定惯性传感器的加速度计的零偏的方差Var _acc和惯性传感器的陀螺仪的零偏的方差Var _gyro： In a possible implementation, after the visual inertial system is initialized, equations 45 to 48 can be used to determine the variance Var _acc of the zero bias of the accelerometer of the inertial sensor and the variance Var _gyro of the zero bias of the gyroscope of the inertial sensor:

其中，w表示滑动窗口的大小。w可以根据经验确定，例如，w可以等于11、3等。where w represents the size of the sliding window. w can be determined empirically, for example, w can be equal to 11, 3, etc.

在本公开实施例中，通过估计视觉惯性***的状态数据，加速度计的零偏和陀螺仪的零偏将逐渐趋于稳定，例如，加速度计的零偏的方差和陀螺仪的零偏的方差将不断降低到收敛的数值。In the embodiment of the present disclosure, by estimating the state data of the visual inertial system, the bias of the accelerometer and the bias of the gyroscope will gradually become stable, for example, the variance of the bias of the accelerometer and the bias of the gyroscope will continue to decrease to a convergent value.

在一种可能的实现方式中，在开启任一待标定参数的标定之前，可以将该待标定参数固定为初始值。在一种可能的实现方式中，所述待标定参数包括时间偏移，其中，所述时间偏移表示在同一时刻所述视觉传感器的时钟与所述惯性传感器的时钟之间的差值；所述根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定，包括：在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第一预设稳定性条件，且所述惯性传感器的陀螺仪的零偏满足第二预设稳定性条件的情况下，开启对所述时间偏移的标定。In a possible implementation manner, before starting the calibration of any parameter to be calibrated, the parameter to be calibrated may be fixed as an initial value. In a possible implementation manner, the parameter to be calibrated includes a time offset, wherein the time offset represents a difference between the clock of the visual sensor and the clock of the inertial sensor at the same moment; the The step of calibrating the parameters to be calibrated of the visual inertial system according to the state data of the visual inertial system at the current moment includes: in the state data of the visual inertial system at the current moment, the inertial When the zero offset of the accelerometer of the sensor satisfies the first preset stability condition, and the zero offset of the gyroscope of the inertial sensor satisfies the second preset stability condition, the calibration of the time offset is enabled.

在该实现方式中，可以根据加速度计的零偏的离散程度来衡量加速度计的零偏的稳定性，可以根据陀螺仪的零偏的离散程度来衡量陀螺仪的零偏的稳定性。其中，加速度计的零偏的离散程度越高，加速度计的零偏的稳定性越低；加速度计的零偏的离散程度越低，则加速度计的零偏的稳定性越高；陀螺仪的零偏的离散程度越高，则陀螺仪的零偏的稳定性越低；陀螺仪的零偏的离散程度越低，陀螺仪的零偏的稳定性越高。例如，可以根据加速度计的零偏的方差、标准差等来衡量加速度计的零偏的稳定性，可以根据陀螺仪的零偏的方差、标准差等来衡量陀螺仪的零偏的稳定性。其中，加速度计的零偏的方差或者标准差越大，则加速度计的零偏的稳定性越低；加速度计的零偏的方差或者标准差越小，则加速度计的零偏的稳定性越高；陀螺仪的零偏的方差或者标准差越大，则陀螺仪的零偏的稳定性越低；陀螺仪的零偏的方差或者标准差越小，则陀螺仪的零偏的稳定性越高。In this implementation manner, the stability of the bias of the accelerometer can be measured according to the degree of dispersion of the bias of the accelerometer, and the stability of the bias of the gyroscope can be measured according to the degree of dispersion of the bias of the gyroscope. Among them, the higher the dispersion degree of the accelerometer's bias, the lower the stability of the accelerometer's bias; the lower the dispersion of the accelerometer's bias, the higher the stability of the accelerometer's bias; The higher the dispersion degree of the zero bias, the lower the stability of the zero bias of the gyroscope; the lower the dispersion degree of the zero bias of the gyroscope, the higher the stability of the zero bias of the gyroscope. For example, the stability of the zero bias of the accelerometer can be measured according to the variance and standard deviation of the zero bias of the accelerometer, and the stability of the zero bias of the gyroscope can be measured according to the variance and standard deviation of the zero bias of the gyroscope. Among them, the larger the variance or standard deviation of the accelerometer's bias, the lower the stability of the accelerometer's bias; the smaller the variance or standard deviation of the accelerometer's bias, the more stable the accelerometer's bias is. High; the larger the variance or standard deviation of the gyroscope's bias, the lower the stability of the gyroscope's bias; the smaller the variance or standard deviation of the gyroscope's bias, the more stable the gyroscope's bias is high.

在该实现方式中，第一预设稳定性条件为预先设置的加速度计的零偏的稳定性条件，第二预设稳定性条件为预先设置的陀螺仪的零偏的稳定性条件。所述惯性传感器的加速度计的零偏满足第一预设稳定性条件且所述惯性传感器的陀螺仪的零偏满足第二预设稳定性条件时，所述惯性传感器的加速度计和陀螺仪的稳定性均较高。在这个时机开启对所述时间偏移的标定，有助于提高所述视觉惯性***的待标定参数的收敛速度，提高参数标定的精度和鲁棒性。另外，通过先标定所述时间偏移，能够使视觉传感器与惯性传感器的时间戳对齐，以使视觉惯性***中视觉传感器与惯性传感器的数据是同步的。In this implementation manner, the first preset stability condition is a preset stability condition of the bias of the accelerometer, and the second preset stability condition is a preset stability condition of the bias of the gyroscope. When the zero offset of the accelerometer of the inertial sensor satisfies the first preset stability condition and the zero offset of the gyroscope of the inertial sensor meets the second preset stability condition, the accelerometer of the inertial sensor and the gyroscope of the inertial sensor meet the second preset stability condition. The stability is high. Starting the calibration of the time offset at this opportunity helps to improve the convergence speed of the parameters to be calibrated in the visual-inertial system, and improves the accuracy and robustness of parameter calibration. In addition, by first calibrating the time offset, the time stamps of the visual sensor and the inertial sensor can be aligned, so that the data of the visual sensor and the inertial sensor in the visual-inertial system are synchronized.

作为该实现方式的一个示例，所述加速度计的零偏满足第一预设稳定性条件包括：所述加速度计的零偏的方差小于第一预设值；所述陀螺仪的零偏满足第二预设稳定性条件包括：所述陀螺仪的零偏的方差小于第二预设值。例如，第一预设值可以是0.08，第二预设值可以是0.001。当然，第一预设值也可以略大于或略小于0.08，第二预设值也可以略大于或略小于0.001，本领域技术人员可以根据经验灵活确定第一预设值和第二预设值。As an example of this implementation, the fact that the zero bias of the accelerometer satisfies the first preset stability condition includes: the variance of the zero bias of the accelerometer is smaller than the first preset value; the zero bias of the gyroscope satisfies the first preset stability condition The two preset stability conditions include: the variance of the zero bias of the gyroscope is smaller than the second preset value. For example, the first preset value may be 0.08, and the second preset value may be 0.001. Of course, the first preset value can also be slightly larger or smaller than 0.08, and the second preset value can also be slightly larger or smaller than 0.001. Those skilled in the art can flexibly determine the first preset value and the second preset value based on experience .

在一种可能的实现方式中，所述待标定参数包括所述视觉传感器的内参；所述根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定，包括：在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第三预设稳定性条件的情况下，开启对所述视觉传感器的内参的标定，其中，所述第三预设稳定性条件对应的加速度计的零偏的稳定性高于第一预设稳定性条件对应的加速度计的零偏的稳定性。在该实现方式中，第三预设稳定性条件为预先设置的加速度计的零偏的稳定性条件。第三预设稳定性条件对应的加速度计的零偏的稳定性高于第一预设稳定性条件对应的加速度计的零偏的稳定性，表示第三预设稳定性条件对加速度计的零偏的稳定性的要求高于第一预设稳定性条件对加速度计的零偏的稳定性的要求。在该实现方式中，通过在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第三预设稳定性条件的情况下，开启对所述视觉传感器的内参的标定，有助于提高所述视觉惯性***的待标定参数的收敛速度，提高参数标定的精度和鲁棒性。另外，在所述惯性传感器的加速度计的零偏满足第三预设稳定性条件的情况下，视觉惯性***的稳定度较高，在这个时机开启视觉传感器的内参的标定，能够使当前的视觉惯性***保持较稳定的状态，从而能够获得较好的标定效果。作为该实现方式的一个示例，所述加速度计的零偏满足第三预设稳定性条件包括：所述加速度计的零偏的方差小于第三预设值，其中，所述第三预设值小于第一预设值。例如，第三预设值可以是0.008。当然，第三预设值也可以略大于或略小于0.008，本领域技术人员可以根据经验灵活确定第三预设值。In a possible implementation manner, the parameters to be calibrated include internal parameters of the visual sensor; and the parameters to be calibrated of the visual inertial system are performed according to the state data of the visual inertial system at the current moment. Calibration includes: in the state data of the visual inertial system at the current moment, in the case that the zero offset of the accelerometer of the inertial sensor satisfies a third preset stability condition, turning on the internal reference of the visual sensor The calibration of the accelerometer, wherein the stability of the zero offset of the accelerometer corresponding to the third preset stability condition is higher than the stability of the zero offset of the accelerometer corresponding to the first preset stability condition. In this implementation manner, the third preset stability condition is a preset stability condition of the zero offset of the accelerometer. The stability of the zero bias of the accelerometer corresponding to the third preset stability condition is higher than the stability of the zero bias of the accelerometer corresponding to the first preset stability condition, indicating that the third preset stability condition affects the zero bias of the accelerometer. The requirement for the stability of the bias is higher than the requirement for the stability of the zero bias of the accelerometer by the first preset stability condition. In this implementation manner, in the state data of the visual inertial system at the current moment, when the zero offset of the accelerometer of the inertial sensor satisfies a third preset stability condition, enable the visual inspection of the visual inertial system. The calibration of the internal parameters of the sensor helps to improve the convergence speed of the to-be-calibrated parameters of the visual inertial system, and improves the accuracy and robustness of parameter calibration. In addition, when the zero bias of the accelerometer of the inertial sensor satisfies the third preset stability condition, the stability of the visual inertial system is relatively high, and the calibration of the internal parameters of the visual sensor is started at this time, which can make the current visual The inertial system maintains a relatively stable state, so that a better calibration effect can be obtained. As an example of this implementation, the fact that the zero offset of the accelerometer meets the third preset stability condition includes: the variance of the zero offset of the accelerometer is less than a third preset value, wherein the third preset value less than the first preset value. For example, the third preset value may be 0.008. Of course, the third preset value may also be slightly larger or smaller than 0.008, and those skilled in the art can flexibly determine the third preset value according to experience.

在一种可能的实现方式中，所述待标定参数包括所述惯性传感器与所述视觉传感器之间的坐标转换参数，其中，所述坐标转换参数包括所述惯性传感器与所述视觉传感器之间的平移参数和旋转参数中的至少之一；所述根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定，包括：在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第四预设稳定性条件的情况下，开启对所述坐标转换参数的标定，其中，所述第四预设稳定性条件对应的加速度计的零偏的稳定性高于第一预设稳定性条件对应的加速度计的零偏的稳定性。在该实现方式中，第四预设稳定性条件为预先设置的加速度计的零偏的稳定性条件。第四预设稳定性条件对应的加速度计的零偏的稳定性，高于第一预设稳定性条件对应的加速度计的零偏的稳定性，表示第四预设稳定性条件对加速度计的零偏的稳定性的要求，高于第一预设稳定性条件对加速度计的零偏的稳定性的要求。在该实现方式中，通过在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第四预设稳定性条件的情况下，开启对所述坐标转换参数的标定，有助于提高所述视觉惯性***的待标定参数的收敛速度，提高参数标定的精度和鲁棒性。另外，在所述惯性传感器的加速度计的零偏满足第四预设稳定性条件的情况下，视觉惯性***的稳定度较高，在这个时机开启所述惯性传感器与所述视觉传感器之间的坐标转换参数的标定，能够使当前的视觉惯性***保持较稳定的状态，从而能够获得较好的标定效果。In a possible implementation manner, the parameter to be calibrated includes a coordinate conversion parameter between the inertial sensor and the visual sensor, wherein the coordinate conversion parameter includes a parameter between the inertial sensor and the visual sensor at least one of the translation parameters and rotation parameters of the visual inertial system; the calibration of the parameters to be calibrated of the visual inertial system according to the state data of the visual inertial system at the current moment, including: in the visual inertial system In the state data at the current moment, when the zero offset of the accelerometer of the inertial sensor satisfies a fourth preset stability condition, the calibration of the coordinate conversion parameter is enabled, wherein the fourth preset stability condition is The stability of the zero offset of the accelerometer corresponding to the stability condition is higher than the stability of the zero offset of the accelerometer corresponding to the first preset stability condition. In this implementation manner, the fourth preset stability condition is a preset stability condition of the zero offset of the accelerometer. The stability of the zero offset of the accelerometer corresponding to the fourth preset stability condition is higher than the stability of the zero offset of the accelerometer corresponding to the first preset stability condition, indicating that the fourth preset stability condition affects the stability of the accelerometer. The requirement for the stability of the zero offset is higher than the requirement for the stability of the zero offset of the accelerometer by the first preset stability condition. In this implementation manner, when the zero offset of the accelerometer of the inertial sensor satisfies the fourth preset stability condition in the state data of the visual inertial system at the current moment, the adjustment of the coordinate system is enabled. The calibration of the conversion parameters helps to improve the convergence speed of the to-be-calibrated parameters of the visual inertial system, and improves the accuracy and robustness of parameter calibration. In addition, in the case that the zero offset of the accelerometer of the inertial sensor satisfies the fourth preset stability condition, the stability of the visual inertial system is relatively high, and at this timing, the communication between the inertial sensor and the visual sensor is turned on. The calibration of the coordinate transformation parameters can keep the current visual inertial system in a relatively stable state, so that a better calibration effect can be obtained.

作为该实现方式的一个示例，所述加速度计的零偏满足第四预设稳定性条件包括：所述加速度计的零偏的方差小于第四预设值，其中，所述第四预设值小于第一预设值。其中，第四预设值可以等于第三预设值，也可以略大于或略小于第三预设值。例如，第四预设值可以是0.008。当然，第四预设值也可以略大于或略小于0.008，本领域技术人员可以根据经验灵活确定第四预设值。在一种可能的实现方式中，在开启视觉传感器的内参的标定和坐标转换参数的标定之后，可以继续标定时间偏移。在一种可能的实现方式中，可以采用式49至式56确定焦距坐标f _x的方差

焦距坐标f _y的方差

光心坐标c _x的方差

以及光心坐标c _y的方差

As an example of this implementation, the fact that the zero offset of the accelerometer satisfies the fourth preset stability condition includes: the variance of the zero offset of the accelerometer is less than a fourth preset value, wherein the fourth preset value less than the first preset value. Wherein, the fourth preset value may be equal to the third preset value, and may also be slightly larger or smaller than the third preset value. For example, the fourth preset value may be 0.008. Of course, the fourth preset value may also be slightly larger or smaller than 0.008, and those skilled in the art can flexibly determine the fourth preset value according to experience. In a possible implementation manner, after the calibration of the internal parameters of the vision sensor and the calibration of the coordinate transformation parameters are enabled, the time offset can be continued to be calibrated. In a possible implementation, the variance of the focal length coordinate f _x can be determined by using Equation 49 to Equation 56

Variance of focal length coordinates f _y

The variance of the optical center coordinate c _x

and the variance of the optical center coordinates c _y

在一种可能的实现方式中，所述待标定参数包括所述视觉传感器的畸变参数；所述根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定，包括：在根据所述视觉惯性***在所述当前时刻的状态数据，确定所述视觉传感器的内参满足第五预设稳定性条件的情况下，开启对所述视觉传感器的畸变参数的标定。在该实现方式中，可以根据视觉传感器的内参的离散程度来衡量视觉传感器的内参的稳定性。其中，视觉传感器的内参的离散程度越高，则视觉传感器的内参的稳定性越低；视觉传感器的内参的离散程度越低，则视觉传感器的内参的稳定性越高。例如，可以根据视觉传感器的内参的方差、标准差等来衡量视觉传感器的内参的稳定性。其中，视觉传感器的内参的方差或者标准差越大，则视觉传感器的内参的稳定性越低；视觉传感器的内参的方差或者标准差越小，则视觉传感器的内参的稳定性越高。在该实现方式中，第五预设稳定性条件为预先设置的视觉传感器的内参的稳定性条件。在视觉传感器的内参满足第五预设稳定性条件时，视觉传感器的内参的稳定性较高。在该实现方式中，通过在根据所述视觉惯性***在所述当前时刻的状态数据，确定所述视觉传感器的内参满足第五预设稳定性条件的情况下，开启对所述视觉传感器的畸变参数的标定，有助于提高所述视觉惯性***的待标定参数的收敛速度，提高参数标定的精度和鲁棒性。在该实现方式中，视觉传感器的内参先于视觉传感器的畸变参数开启标定。在所述视觉传感器的内参满足第五预设稳定性条件的情况下，所述视觉传感器的内参已收敛。在这个时机开启视觉传感器的畸变参数的标定，不会影响视觉传感器的内参的标定效果。In a possible implementation manner, the parameter to be calibrated includes a distortion parameter of the visual sensor; the parameter to be calibrated for the visual inertial system according to the state data of the visual inertial system at the current moment The calibration includes: in the case where it is determined that the internal parameter of the visual sensor satisfies the fifth preset stability condition according to the state data of the visual inertial system at the current moment, turning on the distortion parameter of the visual sensor. Calibration. In this implementation manner, the stability of the internal parameters of the visual sensor can be measured according to the discrete degree of the internal parameters of the visual sensor. Among them, the higher the discrete degree of the internal parameters of the visual sensor, the lower the stability of the internal parameters of the visual sensor; the lower the discrete degree of the internal parameters of the visual sensor, the higher the stability of the internal parameters of the visual sensor. For example, the stability of the internal parameters of the visual sensor can be measured according to the variance, standard deviation, etc. of the internal parameters of the visual sensor. Wherein, the larger the variance or standard deviation of the internal reference of the visual sensor, the lower the stability of the internal reference of the visual sensor; the smaller the variance or standard deviation of the internal reference of the visual sensor, the higher the stability of the internal reference of the visual sensor. In this implementation manner, the fifth preset stability condition is a preset stability condition of an internal reference of the visual sensor. When the internal reference of the visual sensor satisfies the fifth preset stability condition, the stability of the internal reference of the visual sensor is relatively high. In this implementation manner, the distortion of the visual sensor is enabled when it is determined that the internal parameter of the visual sensor meets the fifth preset stability condition according to the state data of the visual inertial system at the current moment. The calibration of parameters helps to improve the convergence speed of the parameters to be calibrated in the visual inertial system, and improves the accuracy and robustness of parameter calibration. In this implementation, the internal reference of the vision sensor is calibrated prior to the distortion parameter of the vision sensor. In the case that the internal reference of the visual sensor satisfies the fifth preset stability condition, the internal reference of the visual sensor has converged. Turning on the calibration of the distortion parameters of the vision sensor at this time will not affect the calibration effect of the internal parameters of the vision sensor.

作为该实现方式的一个示例，所述视觉传感器的内参满足第五预设稳定性条件包括：所述视觉传感器的内参的方差小于第五预设值。例如，第五预设值可以是0.001。当然，第五预设值也可以略大于或略小于0.001，本领域技术人员可以根据经验灵活确定第五预设值。在该示例中，所述视觉传感器的内参的方差小于第五预设值，可以是焦距坐标f _x、f _y以及光心坐标c _x和c _y的方差分别小于第五预设值。当然，本领域技术人员可以根据经验灵活设置开启对视觉传感器的畸变参数的标定的条件。例如，还可以在焦距坐标f _x、f _y以及光心坐标c _x和c _y中的一项、两项或三项的方差小于第五预设值的情况下，开启对视觉传感器的畸变参数的标定。在一种可能的实现方式中，在开启视觉传感器的畸变参数的标定之后，可以继续标定时间偏移、视觉传感器的内参和坐标转换参数。 As an example of this implementation, the fact that the internal parameter of the visual sensor satisfies the fifth preset stability condition includes: the variance of the internal parameter of the visual sensor is smaller than the fifth preset value. For example, the fifth preset value may be 0.001. Of course, the fifth preset value may also be slightly larger or smaller than 0.001, and those skilled in the art can flexibly determine the fifth preset value according to experience. In this example, the variance of the internal parameters of the visual sensor is smaller than the fifth preset value, which may be that the variances of the focal length coordinates f _x , f _y and the optical center coordinates c _x and _cy are respectively smaller than the fifth preset value. Of course, those skilled in the art can flexibly set the conditions for enabling calibration of the distortion parameters of the vision sensor according to experience. For example, when the variance of one, two or three of the focal length coordinates f _x , f _y and the optical center coordinates c _x and _cy is smaller than the fifth preset value, the distortion parameter for the vision sensor can also be turned on calibration. In a possible implementation manner, after the calibration of the distortion parameters of the vision sensor is enabled, the time offset, the internal parameters of the vision sensor and the coordinate transformation parameters may be continuously calibrated.

在一种可能的实现方式中，所述方法还包括：根据所述视觉惯性***的运动状态，确定所述当前时刻的保持固定的待标定参数。在该实现方式中，可以将所述视觉传感器的运动状态作为所述视觉惯性***的运动状态，以提高所获取的视觉惯性***的运动状态的可靠性。当然，在实际应用中，也可以将惯性传感器的运动状态作为所述视觉惯性***的运动状态，在此不作限定。在该实现方式中，可以根据所述视觉惯性***的运动状态，将当前时刻不可观测的待标定参数确定为在所述当前时刻保持固定的待标定参数。在该实现方式中，通过根据所述视觉惯性***的运动状态，确定所述当前时刻的保持固定的待标定参数，由此在当前时刻仅对当前时刻可观测的待标定参数进行标定，而将当前时刻不可观测的待标定参数保持固定，从而不会因视觉惯性***的运动状态降低参数的有效性，能够提高所标定的参数的精度，从而有助于提高所述视觉惯性***进行定位、建图、导航等的精度。In a possible implementation manner, the method further includes: determining the constant to-be-calibrated parameter at the current moment according to the motion state of the visual inertial system. In this implementation manner, the motion state of the visual sensor may be used as the motion state of the visual inertial system, so as to improve the reliability of the acquired motion state of the visual inertial system. Of course, in practical applications, the motion state of the inertial sensor can also be used as the motion state of the visual inertial system, which is not limited here. In this implementation manner, the unobservable parameter to be calibrated at the current moment may be determined as the parameter to be calibrated that remains fixed at the current moment according to the motion state of the visual inertial system. In this implementation, by determining the parameters to be calibrated at the current moment that remain fixed according to the motion state of the visual inertial system, only the parameters to be calibrated that are observable at the current moment are calibrated at the current moment, and the parameters to be calibrated that are observable at the current moment are calibrated. The parameters to be calibrated that cannot be observed at the current moment are kept fixed, so that the validity of the parameters will not be reduced due to the motion state of the visual inertial system, and the accuracy of the calibrated parameters can be improved, thereby helping to improve the positioning and construction of the visual inertial system. Accuracy of graphics, navigation, etc.

作为该实现方式的一个示例，所述根据所述视觉惯性***的运动状态，确定在所述当前时刻保持固定的待标定参数，包括：在所述视觉惯性***静止的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数。在该示例中，若将视觉传感器的运动状态作为视觉惯性***的运动状态，则可以在视觉传感器的平移参数为0且旋转参数为0的情况下，确定视觉惯性***静止；若将惯性传感器的运动状态作为视觉惯性***的运动状态，则可以在惯性传感器的平移参数为0且旋转参数为0的情况下，确定视觉惯性***静止。在该示例中，在所述视觉惯性***静止的情况下，将时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数保持固定，并对其他已开启标定的待标定参数进行标定。As an example of this implementation, the determining the parameter to be calibrated that is kept fixed at the current moment according to the motion state of the visual inertial system includes: when the visual inertial system is stationary, The parameters to be calibrated that remain fixed at the current moment include time offset, translation parameters between the inertial sensor and the visual sensor, and rotation parameters between the inertial sensor and the visual sensor. In this example, if the motion state of the visual sensor is used as the motion state of the visual inertial system, it can be determined that the visual inertial system is stationary when the translation parameter of the visual sensor is 0 and the rotation parameter is 0; As the motion state of the visual inertial system, it can be determined that the visual inertial system is stationary when the translation parameter of the inertial sensor is 0 and the rotation parameter is 0. In this example, with the visual-inertial system stationary, the time offset, the translation parameter between the inertial sensor and the vision sensor, and the rotation parameter between the inertial sensor and the vision sensor are combined Keep it fixed, and calibrate other parameters to be calibrated whose calibration has been turned on.

作为该实现方式的一个示例，所述根据所述视觉惯性***的运动状态，确定在所述当前时刻保持固定的待标定参数，包括：在所述视觉传感器或者所述惯性传感器的平移参数为0且旋转参数不为0的情况下，确定在所述当前时刻保持固定的待标定参数包括所述惯性传感器与所述视觉传感器之间的平移参数。在该示例中，在所述视觉传感器或者所述惯性传感器的平移参数为0且旋转参数不为0的情况下，可以确定视觉惯性***为纯旋转运行。在该示例中，若将视觉传感器的运动状态作为视觉惯性***的运动状态，则可以在视觉传感器的平移参数为0且旋转参数不为0的情况下，将所述惯性传感器与所述视觉传感器之间的平移参数保持固定，并对其他已开启标定的待标定参数进行标定；若将惯性传感器的运动状态作为视觉惯性***的运动状态，则可以在惯性传感器的平移参数为0且旋转参数不为0的情况下，将所述惯性传感器与所述视觉传感器之间的平移参数保持固定，并对其他已开启标定的待标定参数进行标定。As an example of this implementation, the determining the parameter to be calibrated that remains fixed at the current moment according to the motion state of the visual inertial system includes: when the translation parameter of the visual sensor or the inertial sensor is 0 And if the rotation parameter is not 0, it is determined that the parameter to be calibrated that remains fixed at the current moment includes the translation parameter between the inertial sensor and the visual sensor. In this example, when the translation parameter of the visual sensor or the inertial sensor is 0 and the rotation parameter is not 0, it can be determined that the visual-inertial system operates purely rotationally. In this example, if the motion state of the visual sensor is used as the motion state of the visual inertial system, then the inertial sensor and the visual sensor can be combined when the translation parameter of the visual sensor is 0 and the rotation parameter is not 0. The translation parameters between the two remain fixed, and the other parameters to be calibrated that have been calibrated are calibrated; if the motion state of the inertial sensor is used as the motion state of the visual inertial system, the translation parameter of the inertial sensor can be 0 and the rotation parameter is not. In the case of 0, the translation parameters between the inertial sensor and the visual sensor are kept fixed, and other parameters to be calibrated that have been calibrated are calibrated.

作为该实现方式的一个示例，所述根据所述视觉惯性***的运动状态，确定在所述当前时刻保持固定的待标定参数，包括：在所述视觉传感器或者所述惯性传感器绕着x轴、y轴和z轴中的一个轴旋转的情况下，确定在所述当前时刻保持固定的待标定参数包括所述惯性传感器与所述视觉传感器之间的平移参数中旋转轴对应的参数。在该示例中，若将视觉传感器的运动状态作为视觉惯性***的运动状态，则可以在所述视觉传感器绕着x轴、y轴和z轴中的一个轴旋转的情况下，将所述惯性传感器与所述视觉传感器之间的平移参数中旋转轴对应的参数保持固定，并对其他已开启标定的待标定参数进行标定；若将惯性传感器的运动状态作为视觉惯性***的运动状态，则可以在所述惯性传感器绕着x轴、y轴和z轴中的一个轴旋转的情况下，将所述惯性传感器与所述视觉传感器之间的平移参数中旋转轴对应的参数保持固定，并对其他已开启标定的待标定参数进行标定。As an example of this implementation, the determining the parameters to be calibrated that remain fixed at the current moment according to the motion state of the visual-inertial system includes: when the visual sensor or the inertial sensor is around the x-axis, When one of the y-axis and the z-axis rotates, it is determined that the parameter to be calibrated that remains fixed at the current moment includes a parameter corresponding to the rotation axis among the translation parameters between the inertial sensor and the visual sensor. In this example, if the motion state of the visual sensor is used as the motion state of the visual inertial system, then when the visual sensor rotates around one of the x-axis, the y-axis and the z-axis, the inertial The parameter corresponding to the rotation axis in the translation parameters between the sensor and the visual sensor is kept fixed, and other parameters to be calibrated that have been calibrated are calibrated; if the motion state of the inertial sensor is used as the motion state of the visual inertial system, it can be In the case where the inertial sensor rotates around one of the x-axis, the y-axis and the z-axis, the parameter corresponding to the rotation axis among the translation parameters between the inertial sensor and the visual sensor is kept fixed, and the Other parameters to be calibrated whose calibration has been turned on are calibrated.

作为该实现方式的一个示例，所述根据所述视觉惯性***的运动状态，确定在所述当前时刻保持固定的待标定参数，包括：在所述视觉传感器或者所述惯性传感器绕着任一坐标轴以恒定的角速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数。在该示例中，若将视觉传感器的运动状态作为视觉惯性***的运动状态，则可以在所述视觉传感器绕着任一坐标轴以恒定的角速度运动的情况下，将时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数保持固定，并对其他已开启标定的待标定参数进行标定；若将惯性传感器的运动状态作为视觉惯性***的运动状态，则可以在所述惯性传感器绕着任一坐标轴以恒定的角速度运动的情况下，将时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数保持固定，并对其他已开启标定的待标定参数进行标定。在该示例中，可以在视觉传感器在当前时刻和上一时刻绕着任一坐标轴以相同的角速度运动的情况下，确定视觉传感器绕着所述坐标轴以恒定的角速度运动；可以在惯性传感器在当前时刻和上一时刻绕着任一坐标轴以相同的角速度运动的情况下，确定惯性传感器绕着所述坐标轴以恒定的角速度运动。在实际应用中，可以允许有误差，例如，可以在角速度之间的差值小于预定的阈值的情况下，确定为相同的角速度。As an example of this implementation, the determining the parameter to be calibrated that remains fixed at the current moment according to the motion state of the visual inertial system includes: when the visual sensor or the inertial sensor revolves around any coordinate axis In the case of moving at a constant angular velocity, the parameters to be calibrated that are determined to remain fixed at the current moment include a time offset and a parameter corresponding to the coordinate axis in the translation parameters between the inertial sensor and the visual sensor. In this example, if the motion state of the visual sensor is taken as the motion state of the visual inertial system, then when the visual sensor moves around any coordinate axis at a constant angular velocity, the time offset and the inertial sensor The parameters corresponding to the coordinate axes in the translation parameters between the visual sensors are kept fixed, and other parameters to be calibrated that have been calibrated are calibrated; if the motion state of the inertial sensor is used as the motion state of the visual inertial system, then In the case where the inertial sensor moves at a constant angular velocity around any coordinate axis, the time offset and the parameter corresponding to the coordinate axis in the translation parameters between the inertial sensor and the visual sensor can be kept fixed, And calibrate other parameters to be calibrated that have been opened for calibration. In this example, it can be determined that the vision sensor moves at a constant angular velocity around any coordinate axis when the vision sensor moves at the same angular velocity around the coordinate axis at the current moment and the previous moment; When the current moment and the previous moment move around any coordinate axis at the same angular velocity, it is determined that the inertial sensor moves around the coordinate axis at a constant angular velocity. In practical applications, errors may be allowed, for example, the same angular velocity may be determined when the difference between the angular velocities is smaller than a predetermined threshold.

作为该实现方式的一个示例，所述根据所述视觉惯性***的运动状态，确定在所述当前时刻保持固定的待标定参数，包括：在所述视觉传感器或者所述惯性传感器沿着任一坐标轴以恒定的速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数。在该示例中，若将视觉传感器的运动状态作为视觉惯性***的运动状态，则可以在所述视觉传感器沿着任一坐标轴以恒定的速度运动的情况下，将时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数保持固定，并对其他已开启标定的待标定参数进行标定；若将惯性传感器的运动状态作为视觉惯性***的运动状态，则可以在所述惯性传感器沿着任一坐标轴以恒定的速度运动的情况下，将时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数保持固定，并对其他已开启标定的待标定参数进行标定。在该示例中，可以在视觉传感器在当前时刻和上一时刻绕着任一坐标轴以相同的速度运动的情况下，确定视觉传感器绕着所述坐标轴以恒定的速度运动；可以在惯性传感器在当前时刻和上一时刻绕着任一坐标轴以相同的速度运动的情况下，确定惯性传感器绕着所述坐标轴以恒定的速度运动。在实际应用中，可以允许有误差，例如，可以在速度之间的差值小于预定的阈值的情况下，确定为相同的速度。As an example of this implementation, the determining the parameters to be calibrated that remain fixed at the current moment according to the motion state of the visual-inertial system includes: when the visual sensor or the inertial sensor is along any coordinate axis In the case of moving at a constant speed, the parameters to be calibrated that are determined to remain fixed at the current moment include a time offset and a parameter corresponding to the coordinate axis in the translation parameters between the inertial sensor and the visual sensor. In this example, if the motion state of the visual sensor is used as the motion state of the visual inertial system, then when the visual sensor moves at a constant speed along any coordinate axis, the time offset and the inertial sensor The parameters corresponding to the coordinate axes in the translation parameters between the visual sensors are kept fixed, and other parameters to be calibrated that have been calibrated are calibrated; if the motion state of the inertial sensor is used as the motion state of the visual inertial system, then In the case where the inertial sensor moves at a constant speed along any coordinate axis, the time offset and the parameter corresponding to the coordinate axis among the translation parameters between the inertial sensor and the visual sensor can be kept fixed, And calibrate other parameters to be calibrated that have been opened for calibration. In this example, it can be determined that the vision sensor moves at a constant speed around any coordinate axis under the condition that the vision sensor moves at the same speed around any coordinate axis at the current moment and the previous moment; When the current moment and the previous moment move around any coordinate axis at the same speed, it is determined that the inertial sensor moves at a constant speed around the coordinate axis. In practical applications, errors may be allowed, for example, the same speed may be determined when the difference between the speeds is less than a predetermined threshold.

作为该实现方式的一个示例，所述根据所述视觉惯性***的运动状态，确定在所述当前时刻保持固定的待标定参数，包括：在所述视觉传感器或者所述惯性传感器绕着任一坐标轴以恒定的角加速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数。在该示例中，若将视觉传感器的运动状态作为视觉惯性***的运动状态，则可以在所述视觉传感器绕着任一坐标轴以恒定的角加速度运动的情况下，将时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数保持固定，并对其他已开启标定的待标定参数进行标定；若将惯性传感器的运动状态作为视觉惯性***的运动状态，则可以在所述惯性传感器绕着任一坐标轴以恒定的角加速度运动的情况下，将时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数保持固定，并对其他已开启标定的待标定参数进行标定。在该示例中，可以在视觉传感器在当前时刻和上一时刻绕着任一坐标轴以相同的角加速度运动的情况下，确定视觉传感器绕着所述坐标轴以恒定的角加速度运动；可以在惯性传感器在当前时刻和上一时刻绕着任一坐标轴以相同的角加速度运动的情况下，确定惯性传感器绕着所述坐标轴以恒定的角加速度运动。在实际应用中，可以允许有误差，例如，可以在角加速度之间的差值小于预定的阈值的情况下，确定为相同的角加速度。As an example of this implementation, the determining the parameter to be calibrated that remains fixed at the current moment according to the motion state of the visual inertial system includes: when the visual sensor or the inertial sensor revolves around any coordinate axis In the case of moving at a constant angular acceleration, it is determined that the parameters to be calibrated that remain fixed at the current moment include time offset and parameters corresponding to the coordinate axes in the translation parameters between the inertial sensor and the visual sensor. In this example, if the motion state of the visual sensor is used as the motion state of the visual inertial system, then when the visual sensor moves around any coordinate axis with a constant angular acceleration, the time offset and the inertial The parameter corresponding to the coordinate axis in the translation parameters between the sensor and the visual sensor is kept fixed, and other parameters to be calibrated that have been calibrated are calibrated; if the motion state of the inertial sensor is used as the motion state of the visual inertial system, Then, when the inertial sensor moves around any coordinate axis at a constant angular acceleration, the time offset and the translation parameters between the inertial sensor and the visual sensor can be kept in the parameters corresponding to the coordinate axis. Fixed, and calibrate other parameters to be calibrated whose calibration has been turned on. In this example, under the condition that the vision sensor moves around any coordinate axis at the same angular acceleration at the current moment and the previous moment, it can be determined that the vision sensor moves around the coordinate axis at a constant angular acceleration; it can be determined at the inertial When the sensor moves around any coordinate axis at the same angular acceleration at the current moment and the previous moment, it is determined that the inertial sensor moves around the coordinate axis at a constant angular acceleration. In practical applications, errors may be allowed, for example, the same angular acceleration may be determined when the difference between the angular accelerations is smaller than a predetermined threshold.

作为该实现方式的一个示例，所述根据所述视觉惯性***的跟踪状态，确定所述当前时刻的保持固定的待标定参数，包括：在所述视觉惯性***跟踪丢失的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数。在该示例中，跟踪丢失可以表示视觉传感器最新采集的两个图像不具有相关性和/或重定位失败。在该示例中，在所述视觉惯性***跟踪丢失的情况下，将时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数保持固定，并对其他已开启标定的待标定参数进行标定。As an example of this implementation, the determining the parameters to be calibrated that remain fixed at the current moment according to the tracking state of the visual-inertial system includes: in the case that the tracking of the visual-inertial system is lost, determining the The parameters to be calibrated that are kept fixed at the current moment include a time offset, a translation parameter between the inertial sensor and the visual sensor, and a rotation parameter between the inertial sensor and the visual sensor. In this example, the loss of tracking may indicate that the two most recent images acquired by the vision sensor are not correlated and/or that the relocation failed. In this example, the time offset, the translation parameters between the inertial sensor and the vision sensor, and the rotation between the inertial sensor and the vision sensor are converted The parameters remain fixed, and other parameters to be calibrated whose calibration has been turned on are calibrated.

作为该实现方式的一个示例，所述根据所述视觉惯性***的跟踪状态，确定所述当前时刻的保持固定的待标定参数，包括：在所述视觉惯性***当前跟踪到的特征点的数量小于预设数量的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数。例如，预设数量可以为20。当然，本领域技术人员可以根据实际应用场景需求灵活设置预设数量，在此不作限定。在该示例中，在所述视觉惯性***当前跟踪到的特征点的数量小于预设数量的情况下，将时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数保持固定，并对其他已开启标定的待标定参数进行标定。在一种可能的实现方式中，在开启待标定参数的标定之后，可以根据式57，每帧更新一次待标定参数，也可以每隔几帧更新一次待标定参数：As an example of this implementation, the determining the parameters to be calibrated that remain fixed at the current moment according to the tracking state of the visual-inertial system includes: the number of feature points currently tracked by the visual-inertial system is less than In the case of a preset number, it is determined that the parameters to be calibrated that are kept fixed at the current moment include time offset, translation parameters between the inertial sensor and the visual sensor, and the distance between the inertial sensor and the visual sensor. rotation parameters. For example, the preset number may be 20. Of course, those skilled in the art can flexibly set the preset number according to actual application scenario requirements, which is not limited here. In this example, when the number of feature points currently tracked by the visual-inertial system is less than a preset number, the time offset, the translation parameter between the inertial sensor and the visual sensor, and the inertial The rotation parameters between the sensor and the visual sensor are kept fixed, and other parameters to be calibrated that have been calibrated are calibrated. In a possible implementation manner, after enabling the calibration of the parameters to be calibrated, the parameters to be calibrated can be updated every frame according to Equation 57, or the parameters to be calibrated can be updated every few frames:

X _calib(i+1)＝ΔX _calib+X _calib(i) 式57， X _calib (i+1)=ΔX _calib +X _calib (i) Equation 57,

其中，如式58所示，ΔX _calib可以根据平方根反滑动窗口滤波器(Square-Root Inverse Sliding Window Filter，SR-ISWF)求解视觉惯性***状态的状态数据的估计值

获得： Among them, as shown in Equation 58, ΔX _calib can solve the estimated value of the state data of the visual inertial system state according to the square-root inverse sliding window filter (Square-Root Inverse Sliding Window Filter, SR-ISWF)

get:

其中，

表示

的最优值，ΔX _calib表示第i时刻和第i+1时刻之间待标定参数的变化量，ΔX _calib通过求

得到。通过更新视觉惯性***的状态数据对应的雅可比矩阵(如式21所示)，可以得到所述视觉惯性***对应的黑塞矩阵。其中，R _i是所述黑塞矩阵的平方根的上三角矩阵，是平方根反滑动窗口滤波器求解

的最优值时采用最小二乘法得到的上三角的雅克比矩阵；r _i是所述黑塞矩阵的残差的上三角矩阵，是平方根反滑动窗口滤波器求解

的最优值时的残差项，即误差项。当

无限接近于r _i时，

最优。平方根反滑动窗口滤波器采用逆滤波器进行迭代再进行线性化。 in,

express

The optimal value of , ΔX _calib represents the change of the parameter to be calibrated between the i-th time and the i+1-th time, ΔX _calib is obtained by calculating

get. By updating the Jacobian matrix corresponding to the state data of the visual-inertial system (as shown in Equation 21), the Hessian matrix corresponding to the visual-inertial system can be obtained. where R _i is the upper triangular matrix of the square root of the Hessian matrix, and is the square root inverse sliding window filter solution

The upper triangular Jacobian matrix obtained by the least squares method is used to obtain the optimal value of ; r _i is the upper triangular matrix of the residual error of the Hessian matrix, which is the square root inverse sliding window filter solution

The residual term when the optimal value of , that is, the error term. when

When infinitely close to r _i ,

optimal. The square root inverse sliding window filter uses the inverse filter to iterate and then linearize.

本公开实施例提出了多种参数自标定的顺序和时机，能够实现标定的参数迅速收敛，提高参数标定的精度和鲁棒性。同时根据***的可观性状态对相应的标定参数进行固定，保证***标定参数的有效性，不会因***的运动状态降低参数的有效性，进而保证定位与建图的精度。The embodiments of the present disclosure propose various sequences and timings of parameter self-calibration, which can realize rapid convergence of the calibrated parameters and improve the accuracy and robustness of parameter calibration. At the same time, the corresponding calibration parameters are fixed according to the observability state of the system to ensure the validity of the system calibration parameters. The validity of the parameters will not be reduced due to the motion state of the system, thereby ensuring the accuracy of positioning and mapping.

在一种可能的实现方式中，本公开实施例可以应用于移动终端(例如手机)的AR(Augmented Reality，增强现实)***和/或VR(Virtual Reality，虚拟现实)***中，以实现AR***和/或VR***中的视觉惯性***的传感器参数的自标定。在一种可能的实现方式中，在所述视觉惯性***具有离线标定好的参数的情况下，采用本公开实施例可以对离线标定好的参数进行在线优化，以提高所述视觉惯性***进行定位、建图或者导航的精度。在一种可能的实现方式中，在所述视觉惯性***不具有离线标定好的参数的情况下，可以采用本公开实施例对视觉惯性***的传感器参数进行自标定，以提高视觉惯性***的适配性和通用性。例如，在不具有离线标定好的参数的手机上，通过采用本公开实施例，仍然能够实现适配。In a possible implementation manner, the embodiments of the present disclosure may be applied to an AR (Augmented Reality, augmented reality) system and/or a VR (Virtual Reality, virtual reality) system of a mobile terminal (such as a mobile phone), so as to implement an AR system And/or self-calibration of sensor parameters of visual-inertial systems in VR systems. In a possible implementation manner, in the case that the visual inertial system has parameters that have been calibrated offline, the embodiment of the present disclosure can perform online optimization on the parameters calibrated offline, so as to improve the positioning of the visual inertial system. , mapping or navigation accuracy. In a possible implementation, in the case that the visual inertial system does not have parameters that have been calibrated offline, the embodiments of the present disclosure can be used to self-calibrate the sensor parameters of the visual inertial system, so as to improve the adaptability of the visual inertial system. Compatibility and versatility. For example, on a mobile phone without offline-calibrated parameters, adaptation can still be achieved by using the embodiments of the present disclosure.

相关技术中离线标定的参数往往带有误差，无法实时在线调整。同时当视觉惯性***所处的设备机械结构发生变化、视觉传感器的焦距是变化的或者视觉传感器与惯性传感器非刚性固定时，事先离线标定好的无法满足当前需求。本公开实施例提出的参数标定方法能够在没有离线标定参数的情况下在线进行自标定，适配更多设备；也能够在具有离线标定好参数的情况下将离线标定好的参数作为初值进行在线调整，提高定位和建图的质量。本公开实施例提出的参数标定方法能够根据运动状态对相应的标定参数进行固定，保证***标定参数的有效性，不会因***的运动状态降低参数的有效性。本公开实施例提供的视觉惯性***的参数标定方法可以应用于虚拟现实、增强现实、混合现实、无人机、移动机器人和无人驾驶汽车等应用领域，在此不作限定。The parameters of offline calibration in the related art often have errors and cannot be adjusted online in real time. At the same time, when the mechanical structure of the equipment where the visual inertial system is located changes, the focal length of the visual sensor changes, or the visual sensor and the inertial sensor are not rigidly fixed, the pre-offline calibration cannot meet the current needs. The parameter calibration method proposed in the embodiment of the present disclosure can perform online self-calibration without offline calibration parameters, and adapt to more devices; and can also use offline calibrated parameters as initial values when there are offline calibrated parameters. Online adjustments to improve positioning and mapping quality. The parameter calibration method proposed in the embodiments of the present disclosure can fix the corresponding calibration parameters according to the motion state, so as to ensure the validity of the system calibration parameters, and will not reduce the validity of the parameters due to the motion state of the system. The parameter calibration method of the visual inertial system provided by the embodiment of the present disclosure can be applied to application fields such as virtual reality, augmented reality, mixed reality, unmanned aerial vehicle, mobile robot, and unmanned vehicle, which is not limited herein.

可以理解，本公开提及的上述各个方法实施例，在不违背原理逻辑的情况下，均可以彼此相互结合形成结合后的实施例。本领域技术人员可以理解，在实施方式的上述方法中，各步骤的实际执行顺序应当以其功能和可能的内在逻辑确定。此外，本公开还提供了视觉惯性***的参数标定装置、电子设备、计算机可读存储介质、程序，上述均可用来实现本公开提供的任一种视觉惯性***的参数标定方法，相应技术方案和技术效果可参见方法部分的相应记载。It can be understood that the foregoing method embodiments mentioned in the present disclosure can be combined with each other to form a combined embodiment without violating the principle and logic. Those skilled in the art can understand that, in the above method of the embodiments, the actual execution sequence of each step should be determined by its function and possible internal logic. In addition, the present disclosure also provides a parameter calibration device, electronic device, computer-readable storage medium, and program for a visual inertial system, all of which can be used to implement any parameter calibration method for a visual inertial system provided by the present disclosure, and the corresponding technical solutions and The technical effects can be found in the corresponding records in the Methods section.

图2示出本公开实施例提供的视觉惯性***的参数标定装置的框图。所述视觉惯性***包括视觉传感器和惯性传感器，如图2所示，所述视觉惯性***的参数标定装置包括：FIG. 2 shows a block diagram of a parameter calibration device for a visual inertial system provided by an embodiment of the present disclosure. The visual inertial system includes a visual sensor and an inertial sensor. As shown in Figure 2, the parameter calibration device of the visual inertial system includes:

获取模块21，配置为获取所述视觉惯性***在上一时刻的状态数据；估计模块22，配置为根据所述视觉惯性***在所述上一时刻的状态数据，所述视觉传感器在当前时刻采集的图像中的特征点的坐标，以及所述惯性传感器在所述当前时刻的输出数据，估计所述视觉惯性***在所述当前时刻的状态数据；标定模块23，配置为根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定。The acquisition module 21 is configured to acquire the state data of the visual inertial system at the last moment; the estimation module 22 is configured to collect the visual sensor at the current moment according to the state data of the visual inertial system at the last moment The coordinates of the feature points in the image, and the output data of the inertial sensor at the current moment, estimate the state data of the visual inertial system at the current moment; the calibration module 23 is configured to be based on the visual inertial system. In the state data at the current moment, the parameters to be calibrated of the visual inertial system are calibrated.

在一种可能的实现方式中，所述视觉惯性***在所述上一时刻的状态数据包括：所述视觉传感器在所述上一时刻的状态数据、所述惯性传感器在所述上一时刻的状态数据以及所述待标定参数在所述上一时刻的数值；所述视觉惯性***在所述当前时刻的状态数据包括：所述视觉传感器在所述当前时刻的状态数据、所述惯性传感器在所述当前时刻的状态数据以及所述待标定参数在所述当前时刻的数值。In a possible implementation manner, the state data of the visual inertial system at the last moment includes: the state data of the visual sensor at the last moment, the state data of the inertial sensor at the last moment status data and the value of the parameter to be calibrated at the previous moment; the status data of the visual inertial system at the current moment includes: the status data of the visual sensor at the current moment, the inertial sensor at the current moment The state data at the current moment and the value of the parameter to be calibrated at the current moment.

在一种可能的实现方式中，所述视觉传感器在所述上一时刻的状态数据包括：所述视觉传感器在所述上一时刻的平移参数和所述视觉传感器在所述上一时刻的旋转参数；所述视觉传感器在所述当前时刻的状态数据包括：所述视觉传感器在所述当前时刻的平移参数和所述视觉传感器在所述当前时刻的旋转参数。In a possible implementation manner, the state data of the vision sensor at the last moment includes: translation parameters of the vision sensor at the last moment and rotation of the vision sensor at the last moment parameter; the state data of the visual sensor at the current moment includes: the translation parameter of the visual sensor at the current moment and the rotation parameter of the visual sensor at the current moment.

在一种可能的实现方式中，所述惯性传感器在所述上一时刻的状态数据包括：所述惯性传感器在所述上一时刻的速度；所述惯性传感器在所述当前时刻的状态数据包括：所述惯性传感器在所述当前时刻的速度。In a possible implementation manner, the state data of the inertial sensor at the last moment includes: the speed of the inertial sensor at the last moment; the state data of the inertial sensor at the current moment includes: : The speed of the inertial sensor at the current moment.

在一种可能的实现方式中，所述惯性传感器在所述上一时刻的状态数据还包括：所述惯性传感器在所述上一时刻的加速度计的零偏以及所述惯性传感器在所述上一时刻的陀螺仪的零偏；所述惯性传感器在所述当前时刻的状态数据还包括：所述惯性传感器在所述当前时刻的加速度计的零偏以及所述惯性传感器在所述当前时刻的陀螺仪的零偏。In a possible implementation manner, the state data of the inertial sensor at the last moment further includes: the zero offset of the accelerometer of the inertial sensor at the last moment and the zero offset of the inertial sensor at the last moment The zero offset of the gyroscope at a moment; the state data of the inertial sensor at the current moment further includes: the zero offset of the accelerometer of the inertial sensor at the current moment and the zero offset of the inertial sensor at the current moment The zero offset of the gyroscope.

在一种可能的实现方式中，所述待标定参数包括时间偏移，其中，所述时间偏移表示在同一时刻所述视觉传感器的时钟与所述惯性传感器的时钟之间的差值；所述标定模块23配置为：在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第一预设稳定性条件，且所述惯性传感器的陀螺仪的零偏满足第二预设稳定性条件的情况下，开启对所述时间偏移的标定。In a possible implementation manner, the parameter to be calibrated includes a time offset, wherein the time offset represents a difference between the clock of the visual sensor and the clock of the inertial sensor at the same moment; the The calibration module 23 is configured to: in the state data of the visual inertial system at the current moment, the zero offset of the accelerometer of the inertial sensor satisfies the first preset stability condition, and the gyroscope of the inertial sensor In the case that the zero offset of satisfies the second preset stability condition, the calibration of the time offset is enabled.

在一种可能的实现方式中，所述待标定参数包括所述视觉传感器的内参；所述标定模块23配置为：在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第三预设稳定性条件的情况下，开启对所述视觉传感器的内参的标定，其中，所述第三预设稳定性条件对应的加速度计的零偏的稳定性高于第一预设稳定性条件对应的加速度计的零偏的稳定性。In a possible implementation manner, the parameters to be calibrated include internal parameters of the visual sensor; the calibration module 23 is configured to: in the state data of the visual inertial system at the current moment, the inertial sensor When the zero bias of the accelerometer meets the third preset stability condition, the calibration of the internal parameters of the visual sensor is enabled, wherein the stability of the zero bias of the accelerometer corresponding to the third preset stability condition The stability of the zero offset of the accelerometer is higher than that corresponding to the first preset stability condition.

在一种可能的实现方式中，所述视觉传感器的内参包括所述视觉传感器的焦距和光心；所述装置还包括：第一确定模块，配置为在获取得到所述视觉传感器的视场角的情况下，根据所述视觉传感器采集的图像的宽度以及所述视觉传感器的视场角，确定所述视觉传感器的焦距的初始值；或者，第二确定模块，配置为在获取不到所述视觉传感器的视场角的情况下，根据所述视觉传感器采集的图像的宽度和高度，确定所述视觉传感器的焦距的初始值。In a possible implementation manner, the internal parameters of the visual sensor include the focal length and the optical center of the visual sensor; the device further includes: a first determining module, configured to obtain the field of view angle of the visual sensor after acquiring In this case, the initial value of the focal length of the vision sensor is determined according to the width of the image collected by the vision sensor and the field of view of the vision sensor; or, the second determination module is configured to In the case of the field angle of the sensor, the initial value of the focal length of the vision sensor is determined according to the width and height of the image collected by the vision sensor.

在一种可能的实现方式中，所述视觉传感器的内参包括所述视觉传感器的光心坐标；所述装置还包括：第三确定模块，配置为根据所述视觉传感器采集的图像的宽度和高度，确定所述视觉传感器的光心坐标的初始值。In a possible implementation manner, the internal reference of the vision sensor includes the optical center coordinates of the vision sensor; the apparatus further includes: a third determination module configured to be based on the width and height of the image collected by the vision sensor , and determine the initial value of the optical center coordinates of the vision sensor.

在一种可能的实现方式中，所述待标定参数包括所述惯性传感器与所述视觉传感器之间的坐标转换参数，其中，所述坐标转换参数包括所述惯性传感器与所述视觉传感器之间的平移参数和旋转参数中的至少之一；所述标定模块23配置为：在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第四预设稳定性条件的情况下，开启对所述坐标转换参数的标定，其中，所述第四预设稳定性条件对应的加速度计的零偏的稳定性高于第一预设稳定性条件对应的加速度计的零偏的稳定性。In a possible implementation manner, the parameter to be calibrated includes a coordinate conversion parameter between the inertial sensor and the visual sensor, wherein the coordinate conversion parameter includes a parameter between the inertial sensor and the visual sensor at least one of the translation parameters and rotation parameters of In the case of setting stability conditions, the calibration of the coordinate conversion parameters is enabled, wherein the stability of the zero bias of the accelerometer corresponding to the fourth preset stability condition is higher than that corresponding to the first preset stability condition. The stability of the zero offset of the accelerometer.

在一种可能的实现方式中，所述待标定参数包括所述视觉传感器的畸变参数；所述标定模块23配置为：在根据所述视觉惯性***在所述当前时刻的状态数据，确定所述视觉传感器的内参满足第五预设稳定性条件的情况下，开启对所述视觉传感器的畸变参数的标定。In a possible implementation manner, the parameter to be calibrated includes a distortion parameter of the visual sensor; the calibration module 23 is configured to: determine the When the internal parameter of the vision sensor meets the fifth preset stability condition, the calibration of the distortion parameter of the vision sensor is started.

在一种可能的实现方式中，所述装置还包括：第四确定模块，配置为根据所述视觉惯性***的运动状态，确定所述当前时刻的保持固定的待标定参数。In a possible implementation manner, the apparatus further includes: a fourth determination module, configured to determine the constant to-be-calibrated parameter at the current moment according to the motion state of the visual inertial system.

在一种可能的实现方式中，所述第四确定模块配置为以下至少之一：在所述视觉惯性***静止的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数；In a possible implementation manner, the fourth determining module is configured to at least one of the following: in the case that the visual inertial system is stationary, determine that the parameters to be calibrated that remain fixed at the current moment include time offset, Translation parameters between the inertial sensor and the vision sensor and rotation parameters between the inertial sensor and the vision sensor;

在所述视觉传感器或者所述惯性传感器的平移参数为0且旋转参数不为0的情况下，确定在所述当前时刻保持固定的待标定参数包括所述惯性传感器与所述视觉传感器之间的平移参数；在所述视觉传感器或者所述惯性传感器绕着x轴、y轴和z轴中的一个轴旋转的情况下，确定在所述当前时刻保持固定的待标定参数包括所述惯性传感器与所述视觉传感器之间的平移参数中旋转轴对应的参数；在所述视觉传感器或者所述惯性传感器绕着任一坐标轴以恒定的角速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数；在所述视觉传感器或者所述惯性传感器沿着任一坐标轴以恒定的速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数；在所述视觉传感器或者所述惯性传感器绕着任一坐标轴以恒定的角加速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数。In the case that the translation parameter of the visual sensor or the inertial sensor is 0 and the rotation parameter is not 0, it is determined that the parameter to be calibrated that remains fixed at the current moment includes the difference between the inertial sensor and the visual sensor. Translation parameter; when the visual sensor or the inertial sensor rotates around one of the x-axis, the y-axis, and the z-axis, determining that the parameter to be calibrated that remains fixed at the current moment includes the inertial sensor and the The parameter corresponding to the rotation axis among the translation parameters between the visual sensors; in the case that the visual sensor or the inertial sensor moves around any coordinate axis at a constant angular velocity, it is determined that the current moment remains fixed to be The calibration parameters include time offsets and parameters corresponding to the coordinate axes in the translation parameters between the inertial sensor and the visual sensor; when the visual sensor or the inertial sensor moves at a constant speed along any coordinate axis In the case of , it is determined that the parameters to be calibrated that remain fixed at the current moment include time offset and parameters corresponding to the coordinate axes in the translation parameters between the inertial sensor and the visual sensor; In the case that the inertial sensor moves around any coordinate axis with a constant angular acceleration, it is determined that the parameters to be calibrated that remain fixed at the current moment include time offset and translation parameters between the inertial sensor and the visual sensor The parameters corresponding to the axes described in .

在一种可能的实现方式中，所述装置还包括：第五确定模块，配置为根据所述视觉惯性***的跟踪状态，确定所述当前时刻的保持固定的待标定参数。In a possible implementation manner, the apparatus further includes: a fifth determination module, configured to determine the constant to-be-calibrated parameter at the current moment according to the tracking state of the visual inertial system.

在一种可能的实现方式中，所述第五确定模块配置为：在所述视觉惯性***跟踪丢失的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数；和/或，在所述视觉惯性***当前跟踪到的特征点的数量小于预设数量的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数。In a possible implementation manner, the fifth determining module is configured to: in the case that the tracking of the visual inertial system is lost, determine that the parameters to be calibrated that remain fixed at the current moment include a time offset, the inertial The translation parameter between the sensor and the visual sensor and the rotation parameter between the inertial sensor and the visual sensor; and/or, the number of feature points currently tracked by the visual-inertial system is less than a preset number of In this case, the parameters to be calibrated that are determined to remain fixed at the current moment include a time offset, a translation parameter between the inertial sensor and the visual sensor, and a rotation parameter between the inertial sensor and the visual sensor.

本公开实施例通过获取视觉惯性***在上一时刻的状态数据，根据视觉惯性***在所述上一时刻的状态数据，视觉传感器在当前时刻采集的图像中的特征点的坐标，以及惯性传感器在所述当前时刻的输出数据，估计所述视觉惯性***在所述当前时刻的状态数据，并根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定，由此在标定过程中不需要借助标定参照物、标定板、转台等外部设备进行辅助，根据视觉惯性***的状态对待标定参数进行标定，从而能够实现视觉惯性***的传感器参数的自标定，且能够获得较精准的参数。The embodiment of the present disclosure obtains the state data of the visual inertial system at the last moment, according to the state data of the visual inertial system at the last moment, the coordinates of the feature points in the image collected by the visual sensor at the current moment, and the inertial sensor at the current moment. The output data of the current moment, estimate the state data of the visual inertial system at the current moment, and according to the state data of the visual inertial system at the current moment, carry out the calibration parameters of the visual inertial system. Therefore, in the calibration process, there is no need to use external equipment such as calibration reference objects, calibration plates, and turntables to assist, and the parameters to be calibrated are calibrated according to the state of the visual inertial system, so that the self-calibration of the sensor parameters of the visual inertial system can be realized. And can get more accurate parameters.

在一些实施例中，本公开实施例提供的装置具有的功能或包含的模块可以配置为执行上文方法实施例描述的方法，其实现和技术效果可以参照上文方法实施例的描述。In some embodiments, the functions or modules included in the apparatus provided in the embodiments of the present disclosure may be configured to execute the methods described in the above method embodiments, and for implementation and technical effects, reference may be made to the above method embodiments.

本公开实施例还提供一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。其中，所述计算机可读存储介质可以是非易失性计算机可读存储介质，或者可以是易失性计算机可读存储介质。本公开实施例还提出一种计算机程序，包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行配置为实现上述方法。本公开实施例还提供了另一种计算机程序产品，配置为存储计算机可读指令，指令被执行时使得计算机执行上述任一实施例提供的视觉惯性***的参数标定方法的操作。Embodiments of the present disclosure further provide a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the foregoing method is implemented. Wherein, the computer-readable storage medium may be a non-volatile computer-readable storage medium, or may be a volatile computer-readable storage medium. An embodiment of the present disclosure also provides a computer program, including computer-readable code, when the computer-readable code is executed in an electronic device, a processor in the electronic device executes and is configured to implement the above method. Embodiments of the present disclosure further provide another computer program product configured to store computer-readable instructions, which, when executed, cause the computer to execute the operations of the method for calibrating parameters of a visual inertial system provided by any of the foregoing embodiments.

本公开实施例还提供一种电子设备，包括：一个或多个处理器；用于存储可执行指令的存储器；其中，所述一个或多个处理器被配置为调用所述存储器存储的可执行指令，以执行上述方法。电子设备可以被提供为终端、服务器或其它形态的设备。图3示出根据本公开实施例的一种电子设备800的框图。例如，电子设备800可以是移动电话、计算机、数字广播终端、消息收发设备、游戏控制台、平板设备、医疗设备、健身设备、个人数字助理等终端。参照图3，电子设备800可以包括以下一个或多个组件：处理组件802、存储器804、电源组件806、多媒体组件808、音频组件810、输入/输出(Input/Output，I/O)的接口812，传感器组件814以及通信组件816。Embodiments of the present disclosure further provide an electronic device, including: one or more processors; a memory for storing executable instructions; wherein the one or more processors are configured to invoke executable instructions stored in the memory instruction to execute the above method. The electronic device may be provided as a terminal, server or other form of device. FIG. 3 shows a block diagram of an electronic device 800 according to an embodiment of the present disclosure. For example, electronic device 800 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, fitness device, personal digital assistant, etc. terminal. 3, the electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812 , sensor component 814 and communication component 816 .

处理组件802通常控制电子设备800的整体操作，诸如与显示、电话呼叫、数据通信、相机操作和记录操作相关联的操作。处理组件802可以包括一个或多个处理器820来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件802可以包括一个或多个模块，便于处理组件802和其他组件之间的交互。例如，处理组件802可以包括多媒体模块，以方便多媒体组件808和处理组件802之间的交互。The processing component 802 generally controls the overall operations of the electronic device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 802 can include one or more processors 820 to execute instructions to perform all or some of the steps of the methods described above. Additionally, processing component 802 may include one or more modules that facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.

存储器804被配置为存储各种类型的数据以支持在电子设备800的操作。这些数据的示例包括用于在电子设备800上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器804可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM，Static Random-Access Memory)，电可擦除可编程只读存储器(EEPROM，Static Random-Access Memory)，可擦除可编程只读存储器(EPROM，Electrically Erasable Programmable Read-Only Memory)，可编程只读存储器(PROM，Programmable Read-Only Memory)，只读存储器(ROM，Read Only Memory)，磁存储器，快闪存储器，磁盘或光盘。 Memory 804 is configured to store various types of data to support operation at electronic device 800 . Examples of such data include instructions for any application or method operating on electronic device 800, contact data, phonebook data, messages, pictures, videos, and the like. Memory 804 may be implemented by any type of volatile or non-volatile storage device or combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM) , Static Random-Access Memory), Erasable Programmable Read-Only Memory (EPROM, Electrically Erasable Programmable Read-Only Memory), Programmable Read-Only Memory (PROM, Programmable Read-Only Memory), Read-Only Memory (ROM, Read Only Memory), magnetic memory, flash memory, magnetic disk or optical disk.

电源组件806为电子设备800的各种组件提供电力。电源组件806可以包括电源管理***，一个或多个电源，及其他与为电子设备800生成、管理和分配电力相关联的组件。 Power supply assembly 806 provides power to various components of electronic device 800 . Power supply components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 800 .

多媒体组件808包括在所述电子设备800和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD，Liquid Crystal Display)和触摸面板(TP，Touch Panel)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件808包括一个前置摄像头和/或后置摄像头。当电子设备800处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜***或具有焦距和光学变焦能力。 Multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD, Liquid Crystal Display) and a touch panel (TP, Touch Panel). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, swipe, and gestures on the touch panel. The touch sensor may not only sense the boundaries of a touch or swipe action, but also detect the duration and pressure associated with the touch or swipe action. In some embodiments, multimedia component 808 includes a front-facing camera and/or a rear-facing camera. When the electronic device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each of the front and rear cameras can be a fixed optical lens system or have focal length and optical zoom capability.

音频组件810被配置为输出和/或输入音频信号。例如，音频组件810包括一个麦克风(MIC，Microphone)，当电子设备800处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器804或经由通信组件816发送。在一些实施例中，音频组件810还包括一个扬声器，用于输出音频信号。 Audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a microphone (MIC, Microphone), which is configured to receive external audio signals when the electronic device 800 is in an operating mode, such as a calling mode, a recording mode, and a voice recognition mode. The received audio signal may be further stored in memory 804 or transmitted via communication component 816 . In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

I/O接口812为处理组件802和***接口模块之间提供接口，上述***接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。The I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to: home button, volume buttons, start button, and lock button.

传感器组件814包括一个或多个传感器，用于为电子设备800提供各个方面的状态评估。例如，传感器组件814可以检测到电子设备800的打开/关闭状态、组件的相对定位，例如所述组件为电子设备800的显示器和小键盘，传感器组件814还可以检测电子设备800或电子设备800一个组件的位置改变，用户与电子设备800接触的存在或不存在，电子设备800方位或加速/减速和电子设备800的温度变化。传感器组件814可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件814还可以包括光传感器，如互补金属氧化物半导体(CMOS，Complementary Metal-Oxide-Semiconductor)或电荷耦合装置(CCD，Charge Coupled Device)图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件814还可以包括加速度传感器、陀螺仪传感器、磁传感器、压力传感器或温度传感器。 Sensor assembly 814 includes one or more sensors for providing status assessment of various aspects of electronic device 800 . For example, the sensor component 814 can detect the open/closed state of the electronic device 800, the relative positioning of components, such as the display and the keypad of the electronic device 800, and the sensor component 814 can also detect the electronic device 800 or one of the electronic devices 800. Changes in the position of components, presence or absence of user contact with the electronic device 800 , orientation or acceleration/deceleration of the electronic device 800 and changes in the temperature of the electronic device 800 . Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. The sensor assembly 814 may also include a light sensor, such as a Complementary Metal-Oxide-Semiconductor (CMOS) or Charge Coupled Device (CCD) image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

通信组件816被配置为便于电子设备800和其他设备之间有线或无线方式的通信。电子设备800可以接入基于通信标准的无线网络，如无线网络(Wi-Fi，Wireless Fidelity)，第二代移动通信技术(2G，The 2nd Generation)或第三代移动通信技术(3G，The 3nd Generation)，或它们的组合。在一个示例性实施例中，通信组件816经由广播信道接收来自外部广播管理***的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件816还包括近场通信(NFC，Near Field Communication)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID，Radio Frequency Identification)技术，红外数据协会(IrDA，Infrared Data Association)技术，超宽带(UWB，Ultra Wide Band)技术，蓝牙(BT，Blue Tooth)技术和其他技术来实现。 Communication component 816 is configured to facilitate wired or wireless communication between electronic device 800 and other devices. The electronic device 800 can access a wireless network based on a communication standard, such as a wireless network (Wi-Fi, Wireless Fidelity), a second-generation mobile communication technology (2G, The 2nd Generation) or a third-generation mobile communication technology (3G, The 3nd Generation) Generation), or their combination. In one exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC, Near Field Communication) module to facilitate short-range communication. For example, the NFC module can be based on Radio Frequency Identification (RFID, Radio Frequency Identification) technology, Infrared Data Association (IrDA, Infrared Data Association) technology, Ultra Wide Band (UWB, Ultra Wide Band) technology, Bluetooth (BT, Blue Tooth) technology and other technologies to achieve.

在示例性实施例中，电子设备800可以被一个或多个应用专用集成电路(ASIC，Application Specific Integrated Circuit)、数字信号处理器(DSP，Digital Signal Processor)、数字信号处理设备(DSPD，Digital Signal Processing Device)、可编程逻辑器件(PLD，Programmable Logic Device)、现场可编程门阵列(FPGA，Field Programmable Gate Array)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的存储器804，上述计算机程序指令可由电子设备800的处理器820执行以完成上述方法。In an exemplary embodiment, electronic device 800 may be implemented by one or more Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD) Processing Device), Programmable Logic Device (PLD, Programmable Logic Device), Field Programmable Gate Array (FPGA, Field Programmable Gate Array), controller, microcontroller, microprocessor, or other electronic component implementation for performing the above method. In an exemplary embodiment, a non-volatile computer-readable storage medium, such as a memory 804 comprising computer program instructions executable by the processor 820 of the electronic device 800 to perform the above method is also provided.

图4示出根据本公开实施例的一种电子设备1900的框图。例如，电子设备1900可以被提供为一服务器。参照图4，电子设备1900包括处理组件1922，可以包括一个或多个处理器，以及由存储器1932所代表的存储器资源，用于存储可由处理组件1922的执行的指令，例如应用程序。存储器1932中存储的应用程序可以包括一个或一个以上的每一个对应于一组指令的模块。此外，处理组件1922被配置为执行指令，以执行上述方法。FIG. 4 shows a block diagram of an electronic device 1900 according to an embodiment of the present disclosure. For example, the electronic device 1900 may be provided as a server. 4, electronic device 1900 includes processing component 1922, which may include one or more processors, and memory resources represented by memory 1932 for storing instructions executable by processing component 1922, such as applications. An application program stored in memory 1932 may include one or more modules, each corresponding to a set of instructions. Additionally, the processing component 1922 is configured to execute instructions to perform the above-described methods.

电子设备1900还可以包括一个电源组件1926被配置为执行电子设备1900的电源管理，一个有线或无线网络接口1950被配置为将电子设备1900连接到网络，和一个输入输出(I/O)接口1958。电子设备1900可以操作基于存储在存储器1932的操作***，例如微软服务器操作***(Windows ServerTM)，苹果公司推出的基于图形用户界面操作***(Mac OS XTM)，多用户多进程的计算机操作***(UnixTM),自由和开放原代码的类Unix操作***(LinuxTM)，开放原代码的类Unix操作***(FreeBSDTM)或类似***。在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的存储器1932，上述计算机程序指令可由电子设备1900的处理组件1922执行以完成上述方法。The electronic device 1900 may also include a power supply assembly 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input output (I/O) interface 1958 . The electronic device 1900 can operate based on an operating system stored in the memory 1932, such as a Microsoft server operating system (Windows ServerTM), a graphical user interface based operating system (Mac OS XTM) introduced by Apple, a multi-user multi-process computer operating system (UnixTM). ), a free and open source Unix-like operating system (LinuxTM), an open source Unix-like operating system (FreeBSDTM) or similar systems. In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as memory 1932 comprising computer program instructions executable by processing component 1922 of electronic device 1900 to perform the above-described method.

本公开实施例可以是***、方法和/或计算机程序产品。计算机程序产品可以包括计算机可读存储介质，其上载有用于使处理器实现本公开实施例的各个方面的计算机可读程序指令。计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是(但不限于)电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质可以包括：便携式计算机盘、硬盘、随机存取存储器(RAM，Random Access Memory)、只读存储器、可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器、便携式压缩盘只读存储器(CD-ROM，Compact Disc Read-Only Memory)、数字多功能盘(DVD，Digital Video Disc)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身，诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波(例如，通过光纤电缆的光脉冲)、或者通过电线传输的电信号。Embodiments of the present disclosure may be systems, methods and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the embodiments of the present disclosure. A computer-readable storage medium may be a tangible device that can hold and store instructions for use by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. Computer-readable storage media may include: portable computer disks, hard disks, random access memory (RAM, Random Access Memory), read-only memory, erasable programmable read-only memory (EPROM or flash memory), static random access memory, Portable Compact Disc Read-Only Memory (CD-ROM, Compact Disc Read-Only Memory), Digital Versatile Disc (DVD, Digital Video Disc), memory stick, floppy disk, mechanical coding device, such as a punch card on which instructions are stored Or the protruding structure in the groove, and any suitable combination of the above. Computer-readable storage media, as used herein, are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (eg, light pulses through fiber optic cables), or through electrical wires transmitted electrical signals.

这里所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。The computer readable program instructions described herein may be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over a network such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer-readable program instructions from a network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .

用于执行本公开操作的计算机程序指令可以是汇编指令、指令集架构(ISA，Industry Standard Architecture)指令、机器指令、机器相关指令、伪代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言诸如Smalltalk、C++等，以及常规的过程式编程语言如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络，包括局域网(LAN，Local Area Network)或广域网(WAN，Wide Area Network)连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列或可编程逻辑阵列，该电子电路可以执行计算机可读程序指令，从而实现本公开的各个方面。这里参照根据本公开实施例的方法、装置(***)和计算机程序产品的流程图和/或框图描述了本公开的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。Computer program instructions for carrying out operations of the present disclosure may be assembly instructions, Industry Standard Architecture (ISA) instructions, machine instructions, machine-dependent instructions, pseudocode, firmware instructions, state setting data, or in one or more Source or object code written in any combination of programming languages, including object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as the "C" language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or Wide Area Network (WAN), or may be connected to an external computer (eg, using Internet service provider to connect via the Internet). In some embodiments, electronic circuits, such as programmable logic circuits, field programmable gate arrays, or programmable logic arrays, that can execute computer readable program instructions are personalized by utilizing state information of computer readable program instructions , thereby implementing various aspects of the present disclosure. Aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processor of the computer or other programmable data processing apparatus , means implementing the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams. These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium on which the instructions are stored includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams. Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.

附图中的流程图和框图显示了根据本公开的多个实施例的***、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的***来实现，或者可以用专用硬件与计算机指令的组合来实现。该计算机程序产品可以通过硬件、软件或其结合的方式实现。在一个可选实施例中，所述计算机程序产品体现为计算机存储介质，在另一个可选实施例中，计算机程序产品体现为软件产品，例如软件开发包(Software Development Kit，SDK)等等。The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more functions for implementing the specified logical function(s) executable instructions. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions. The computer program product can be implemented in hardware, software or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK) and the like.

以上已经描述了本公开的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。Various embodiments of the present disclosure have been described above, and the foregoing descriptions are exemplary, not exhaustive, and not limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the various embodiments, the practical application or improvement over the technology in the marketplace, or to enable others of ordinary skill in the art to understand the various embodiments disclosed herein.

工业实用性Industrial Applicability

本公开实施例中在标定过程中不需要借助标定参照物、标定板、转台等外部设备进行辅助，根据视觉惯性***的状态对待标定参数进行标定，从而能够实现视觉惯性***的传感器参数的自标定，且能够获得较精准的参数。In the embodiment of the present disclosure, the calibration reference object, calibration plate, turntable and other external devices are not needed to assist in the calibration process, and the parameters to be calibrated are calibrated according to the state of the visual inertial system, so that the self-calibration of the sensor parameters of the visual inertial system can be realized. , and more accurate parameters can be obtained.

Claims

一种视觉惯性***的参数标定方法，所述视觉惯性***包括视觉传感器和惯性传感器，所述方法包括：A method for calibrating parameters of a visual inertial system, the visual inertial system comprising a visual sensor and an inertial sensor, the method comprising:

获取所述视觉惯性***在上一时刻的状态数据；Obtain the state data of the visual inertial system at the last moment;

根据所述视觉惯性***在所述上一时刻的状态数据，所述视觉传感器在当前时刻采集的图像中的特征点的坐标，以及所述惯性传感器在所述当前时刻的输出数据，估计所述视觉惯性***在所述当前时刻的状态数据；According to the state data of the visual inertial system at the last moment, the coordinates of the feature points in the image collected by the visual sensor at the current moment, and the output data of the inertial sensor at the current moment, estimate the State data of the visual inertial system at the current moment;

根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定。The to-be-calibrated parameters of the visual-inertial system are calibrated according to the state data of the visual-inertial system at the current moment.
根据权利要求1所述的方法，其中，所述视觉惯性***在所述上一时刻的状态数据包括：所述视觉传感器在所述上一时刻的状态数据、所述惯性传感器在所述上一时刻的状态数据以及所述待标定参数在所述上一时刻的数值；所述视觉惯性***在所述当前时刻的状态数据包括：所述视觉传感器在所述当前时刻的状态数据、所述惯性传感器在所述当前时刻的状态数据以及所述待标定参数在所述当前时刻的数值。The method according to claim 1, wherein the state data of the visual inertial system at the last moment comprises: the state data of the visual sensor at the last moment, the inertial sensor at the last moment The state data at the moment and the value of the parameter to be calibrated at the previous moment; the status data of the visual inertial system at the current moment includes: the state data of the visual sensor at the current moment, the inertial The state data of the sensor at the current moment and the value of the parameter to be calibrated at the current moment.
根据权利要求2所述的方法，其中，所述视觉传感器在所述上一时刻的状态数据包括：所述视觉传感器在所述上一时刻的平移参数和所述视觉传感器在所述上一时刻的旋转参数；所述视觉传感器在所述当前时刻的状态数据包括：所述视觉传感器在所述当前时刻的平移参数和所述视觉传感器在所述当前时刻的旋转参数。The method according to claim 2, wherein the state data of the vision sensor at the last moment comprises: translation parameters of the vision sensor at the last moment and the vision sensor at the last moment The rotation parameter of the visual sensor at the current moment includes: the translation parameter of the visual sensor at the current moment and the rotation parameter of the visual sensor at the current moment.
根据权利要求2或3所述的方法，其中，The method according to claim 2 or 3, wherein,

所述惯性传感器在所述上一时刻的状态数据包括：所述惯性传感器在所述上一时刻的速度；The state data of the inertial sensor at the last moment includes: the speed of the inertial sensor at the last moment;

所述惯性传感器在所述当前时刻的状态数据包括：所述惯性传感器在所述当前时刻的速度。The state data of the inertial sensor at the current moment includes: the speed of the inertial sensor at the current moment.
根据权利要求4所述的方法，其中，所述惯性传感器在所述上一时刻的状态数据还包括：所述惯性传感器在所述上一时刻的加速度计的零偏以及所述惯性传感器在所述上一时刻的陀螺仪的零偏；所述惯性传感器在所述当前时刻的状态数据还包括：所述惯性传感器在所述当前时刻的加速度计的零偏以及所述惯性传感器在所述当前时刻的陀螺仪的零偏。The method according to claim 4, wherein the state data of the inertial sensor at the last moment further comprises: zero offset of the accelerometer of the inertial sensor at the last moment and the inertial sensor at the last moment. The zero offset of the gyroscope at the previous moment; the state data of the inertial sensor at the current moment also includes: the zero offset of the accelerometer of the inertial sensor at the current moment and the inertial sensor at the current moment The zero offset of the gyroscope at the moment.
根据权利要求1至5中任意一项所述的方法，其中，所述待标定参数包括时间偏移，其中，所述时间偏移表示在同一时刻所述视觉传感器的时钟与所述惯性传感器的时钟之间的差值；The method according to any one of claims 1 to 5, wherein the parameter to be calibrated includes a time offset, wherein the time offset represents the difference between the clock of the visual sensor and the inertial sensor at the same time. difference between clocks;

所述根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定，包括：The calibration of the to-be-calibrated parameters of the visual-inertial system according to the state data of the visual-inertial system at the current moment includes:

在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第一预设稳定性条件，且所述惯性传感器的陀螺仪的零偏满足第二预设稳定性条件的情况下，开启对所述时间偏移的标定。In the state data of the visual inertial system at the current moment, the zero offset of the accelerometer of the inertial sensor satisfies the first preset stability condition, and the zero offset of the gyroscope of the inertial sensor satisfies the second preset stability condition In the case of setting stability conditions, the calibration of the time offset is enabled.
根据权利要求1至6中任意一项所述的方法，其中，所述待标定参数包括所述视觉传感器的内参；所述根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定，包括：The method according to any one of claims 1 to 6, wherein the parameters to be calibrated include internal parameters of the visual sensor; The parameters to be calibrated of the visual inertial system are calibrated, including:

在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第三预设稳定性条件的情况下，开启对所述视觉传感器的内参的标定，其中，所述第三预设稳定性条件对应的加速度计的零偏的稳定性，高于第一预设稳定性条件对应的加速度计的零偏的稳定性。In the state data of the visual inertial system at the current moment, when the zero offset of the accelerometer of the inertial sensor satisfies the third preset stability condition, the calibration of the internal parameters of the visual sensor is started, wherein , the stability of the zero offset of the accelerometer corresponding to the third preset stability condition is higher than the stability of the zero offset of the accelerometer corresponding to the first preset stability condition.
根据权利要求7所述的方法，其中，所述视觉传感器的内参包括所述视觉传感器的焦距和光心；在所述开启对所述视觉传感器的内参的标定之前，所述方法还包括：The method according to claim 7, wherein the internal parameters of the visual sensor include the focal length and optical center of the visual sensor; before the enabling calibration of the internal parameters of the visual sensor, the method further comprises:

在获取得到所述视觉传感器的视场角的情况下，根据所述视觉传感器采集的图像的宽度以及所述视觉传感器的视场角，确定所述视觉传感器的焦距的初始值；In the case of obtaining the field of view angle of the visual sensor, determine the initial value of the focal length of the visual sensor according to the width of the image collected by the visual sensor and the field of view angle of the visual sensor;

或者，在获取不到所述视觉传感器的视场角的情况下，根据所述视觉传感器采集的图像的宽度和高度，确定所述视觉传感器的焦距的初始值。Alternatively, in the case that the field of view of the vision sensor cannot be obtained, the initial value of the focal length of the vision sensor is determined according to the width and height of the image collected by the vision sensor.
根据权利要求7或8所述的方法，其中，所述视觉传感器的内参包括所述视觉传感器的光心坐标；在所述开启对所述视觉传感器的内参的标定之前，所述方法还包括：The method according to claim 7 or 8, wherein the internal reference of the visual sensor includes the optical center coordinate of the visual sensor; before the enabling calibration of the internal reference of the visual sensor, the method further comprises:

根据所述视觉传感器采集的图像的宽度和高度，确定所述视觉传感器的光心坐标的初始值。According to the width and height of the image collected by the vision sensor, the initial value of the optical center coordinate of the vision sensor is determined.
根据权利要求1至9中任意一项所述的方法，其中，所述待标定参数包括所述惯性传感器与所述视觉传感器之间的坐标转换参数，其中，所述坐标转换参数包括所述惯性传感器与所述视觉传感器之间的平移参数和旋转参数中的至少之一；所述根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定，包括：The method according to any one of claims 1 to 9, wherein the parameter to be calibrated comprises a coordinate conversion parameter between the inertial sensor and the visual sensor, wherein the coordinate conversion parameter comprises the inertial sensor at least one of translation parameters and rotation parameters between the sensor and the visual sensor; the visual inertial system is calibrated according to the state data of the visual inertial system at the current moment, and the to-be-calibrated parameters are calibrated, include:

在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第四预设稳定性条件的情况下，开启对所述坐标转换参数的标定，其中，所述第四预设稳定性条件对应的加速度计的零偏的稳定性，高于第一预设稳定性条件对应的加速度计的零偏的稳定性。In the state data of the visual inertial system at the current moment, when the zero offset of the accelerometer of the inertial sensor satisfies the fourth preset stability condition, the calibration of the coordinate conversion parameter is started, wherein, The stability of the zero offset of the accelerometer corresponding to the fourth preset stability condition is higher than the stability of the zero offset of the accelerometer corresponding to the first preset stability condition.
根据权利要求1至10中任意一项所述的方法，其中，所述待标定参数包括所述视觉传感器的畸变参数；所述根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定，包括：The method according to any one of claims 1 to 10, wherein the parameter to be calibrated includes a distortion parameter of the visual sensor; and according to the state data of the visual inertial system at the current moment, the The parameters to be calibrated of the visual inertial system are calibrated, including:

在根据所述视觉惯性***在所述当前时刻的状态数据，确定所述视觉传感器的内参满足第五预设稳定性条件的情况下，开启对所述视觉传感器的畸变参数的标定。When it is determined according to the state data of the visual inertial system at the current moment that the internal parameter of the visual sensor satisfies the fifth preset stability condition, the calibration of the distortion parameter of the visual sensor is started.
根据权利要求1至11中任意一项所述的方法，其中，所述方法还包括：The method according to any one of claims 1 to 11, wherein the method further comprises:

根据所述视觉惯性***的运动状态，确定所述当前时刻的保持固定的待标定参数。According to the motion state of the visual inertial system, the constant to-be-calibrated parameter at the current moment is determined.
根据权利要求12所述的方法，其中，所述根据所述视觉惯性***的运动状态，确定在所述当前时刻保持固定的待标定参数，包括以下至少之一：The method according to claim 12, wherein the determining, according to the motion state of the visual inertial system, the parameters to be calibrated that remain fixed at the current moment, comprising at least one of the following:

在所述视觉惯性***静止的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数；In the case that the visual inertial system is stationary, it is determined that the parameters to be calibrated that remain fixed at the current moment include a time offset, a translation parameter between the inertial sensor and the visual sensor, and the inertial sensor and the Rotation parameters between vision sensors;

在所述视觉传感器或者所述惯性传感器的平移参数为0且旋转参数不为0的情况下，确定在所述当前时刻保持固定的待标定参数包括所述惯性传感器与所述视觉传感器之间的平移参数；In the case that the translation parameter of the visual sensor or the inertial sensor is 0 and the rotation parameter is not 0, it is determined that the parameter to be calibrated that remains fixed at the current moment includes the difference between the inertial sensor and the visual sensor. translation parameter;

在所述视觉传感器或者所述惯性传感器绕着x轴、y轴和z轴中的一个轴旋转的情况下，确定在所述当前时刻保持固定的待标定参数包括所述惯性传感器与所述视觉传感器之间的平移参数中旋转轴对应的参数；In the case that the visual sensor or the inertial sensor rotates around one of the x-axis, the y-axis and the z-axis, it is determined that the parameters to be calibrated that remain fixed at the current moment include the inertial sensor and the visual sensor The parameters corresponding to the rotation axis in the translation parameters between sensors;

在所述视觉传感器或者所述惯性传感器绕着任一坐标轴以恒定的角速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数；In the case that the visual sensor or the inertial sensor moves around any coordinate axis at a constant angular velocity, it is determined that the parameters to be calibrated that remain fixed at the current moment include a time offset and the inertial sensor and the visual sensor The parameters corresponding to the coordinate axes in the translation parameters between;

在所述视觉传感器或者所述惯性传感器沿着任一坐标轴以恒定的速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数；In the case that the visual sensor or the inertial sensor moves at a constant speed along any coordinate axis, it is determined that the parameters to be calibrated that remain fixed at the current moment include a time offset and the inertial sensor and the visual sensor The parameters corresponding to the coordinate axes in the translation parameters between;

在所述视觉传感器或者所述惯性传感器绕着任一坐标轴以恒定的角加速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数。In the case that the visual sensor or the inertial sensor moves around any coordinate axis with a constant angular acceleration, it is determined that the parameters to be calibrated that remain fixed at the current moment include a time offset and the relationship between the inertial sensor and the visual sensor. The parameter corresponding to the coordinate axis in the translation parameter between sensors.
根据权利要求1至13中任意一项所述的方法，其中，所述方法还包括：The method according to any one of claims 1 to 13, wherein the method further comprises:

根据所述视觉惯性***的跟踪状态，确定所述当前时刻的保持固定的待标定参数。According to the tracking state of the visual inertial system, the constant to-be-calibrated parameter at the current moment is determined.
根据权利要求14所述的方法，其中，所述根据所述视觉惯性***的跟踪状态，确定所述当前时刻的保持固定的待标定参数，包括：The method according to claim 14, wherein the determining the constant to-be-calibrated parameter at the current moment according to the tracking state of the visual-inertial system comprises:

在所述视觉惯性***跟踪丢失的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数；和/或，在所述视觉惯性***当前跟踪到的特征点的数量小于预设数量的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数。In the case that the tracking of the visual inertial system is lost, it is determined that the parameters to be calibrated that remain fixed at the current moment include a time offset, a translation parameter between the inertial sensor and the visual sensor, and the inertial sensor and the and/or, when the number of feature points currently tracked by the visual inertial system is less than a preset number, it is determined that the parameters to be calibrated that remain fixed at the current moment include a time offset translation, translation parameters between the inertial sensor and the vision sensor, and rotation parameters between the inertial sensor and the vision sensor.
一种视觉惯性***的参数标定装置，所述视觉惯性***包括视觉传感器和惯性传感器，所述装置包括：A parameter calibration device for a visual inertial system, the visual inertial system includes a visual sensor and an inertial sensor, and the device includes:

获取模块，配置为获取所述视觉惯性***在上一时刻的状态数据；an acquisition module, configured to acquire the state data of the visual inertial system at the last moment;

估计模块，配置为根据所述视觉惯性***在所述上一时刻的状态数据，所述视觉传感器在当前时刻采集的图像中的特征点的坐标，以及所述惯性传感器在所述当前时刻的输出数据，估计所述视觉惯性***在所述当前时刻的状态数据；an estimation module, configured to be based on the state data of the visual inertial system at the last moment, the coordinates of the feature points in the image collected by the visual sensor at the current moment, and the output of the inertial sensor at the current moment data, estimating the state data of the visual-inertial system at the current moment;

标定模块，配置为根据所述视觉惯性***在所述当前时刻的状态数据，对所述视觉惯性***的待标定参数进行标定。The calibration module is configured to calibrate the parameters to be calibrated of the visual inertial system according to the state data of the visual inertial system at the current moment.
根据权利要求16所述的装置，其中，所述视觉惯性***在所述上一时刻的状态数据包括：所述视觉传感器在所述上一时刻的状态数据、所述惯性传感器在所述上一时刻的状态数据以及所述待标定参数在所述上一时刻的数值；所述视觉惯性***在所述当前时刻的状态数据包括：所述视觉传感器在所述当前时刻的状态数据、所述惯性传感器在所述当前时刻的状态数据以及所述待标定参数在所述当前时刻的数值。The device according to claim 16, wherein the state data of the visual inertial system at the last moment comprises: the state data of the visual sensor at the last moment, the inertial sensor at the last moment The state data at the moment and the value of the parameter to be calibrated at the previous moment; the status data of the visual inertial system at the current moment includes: the state data of the visual sensor at the current moment, the inertial The state data of the sensor at the current moment and the value of the parameter to be calibrated at the current moment.
根据权利要求17所述的装置，其中，所述视觉传感器在所述上一时刻的状态数据包括：所述视觉传感器在所述上一时刻的平移参数和所述视觉传感器在所述上一时刻的旋转参数；所述视觉传感器在所述当前时刻的状态数据包括：所述视觉传感器在所述当前时刻的平移参数和所述视觉传感器在所述当前时刻的旋转参数。The device according to claim 17, wherein the state data of the vision sensor at the last moment comprises: translation parameters of the vision sensor at the last moment and the vision sensor at the last moment The rotation parameter of the visual sensor at the current moment includes: the translation parameter of the visual sensor at the current moment and the rotation parameter of the visual sensor at the current moment.
根据权利要求17或18所述的装置，其中，所述惯性传感器在所述上一时刻的状态数据包括：所述惯性传感器在所述上一时刻的速度；所述惯性传感器在所述当前时刻的状态数据包括：所述惯性传感器在所述当前时刻的速度。The device according to claim 17 or 18, wherein the state data of the inertial sensor at the last moment comprises: the speed of the inertial sensor at the last moment; the inertial sensor at the current moment The status data includes: the speed of the inertial sensor at the current moment.
根据权利要求19所述的装置，其中，所述惯性传感器在所述上一时刻的状态数据还包括：所述惯性传感器在所述上一时刻的加速度计的零偏以及所述惯性传感器在所述上一时刻的陀螺仪的零偏；所述惯性传感器在所述当前时刻的状态数据还包括：所述惯性传感器在所述当前时刻的加速度计的零偏以及所述惯性传感器在所述当前时刻的陀螺仪的零偏。The device according to claim 19, wherein the state data of the inertial sensor at the last moment further comprises: the zero offset of the accelerometer of the inertial sensor at the last moment and the zero offset of the inertial sensor at the last moment The zero offset of the gyroscope at the previous moment; the state data of the inertial sensor at the current moment further includes: the zero offset of the inertial sensor at the current moment and the zero offset of the inertial sensor at the current moment The zero offset of the gyroscope at the moment.
根据权利要求16至20中任一项所述的装置，其中，所述待标定参数包括时间偏移，其中，所述时间偏移表示在同一时刻所述视觉传感器的时钟与所述惯性传感器的时钟之间的差值；21. The apparatus of any one of claims 16 to 20, wherein the parameter to be calibrated includes a time offset, wherein the time offset represents the difference between the clock of the visual sensor and the inertial sensor at the same time. difference between clocks;

所述标定模块，配置为在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第一预设稳定性条件，且所述惯性传感器的陀螺仪的零偏满足第二预设稳定性条件的情况下，开启对所述时间偏移的标定。The calibration module is configured to, in the state data of the visual inertial system at the current moment, the zero offset of the accelerometer of the inertial sensor satisfies a first preset stability condition, and the gyroscope of the inertial sensor In the case that the zero offset of satisfies the second preset stability condition, the calibration of the time offset is enabled.
根据权利要求16至21所述的装置，其中，所述待标定参数包括所述视觉传感器的内参；所述标定模块，配置为在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第三预设稳定性条件的情况下，开启对所述视觉传感器的内参的标定，其中，所述第三预设稳定性条件对应的加速度计的零偏的稳定性，高于第一预设稳定性条件对应的加速度计的零偏的稳定性。The device according to claims 16 to 21, wherein the parameter to be calibrated includes an internal parameter of the visual sensor; the calibration module is configured to, in the state data of the visual inertial system at the current moment, the When the zero bias of the accelerometer of the inertial sensor satisfies the third preset stability condition, the calibration of the internal parameters of the visual sensor is enabled, wherein the zero bias of the accelerometer corresponding to the third preset stability condition The stability of the accelerometer is higher than the stability of the zero bias of the accelerometer corresponding to the first preset stability condition.
根据权利要求22所述的装置，其中，所述视觉传感器的内参包括所述视觉传感器的焦距和光心；所述装置还包括：第一确定模块，配置为在获取得到所述视觉传感器的视场角的情况下，根据所述视觉传感器采集的图像的宽度以及所述视觉传感器的视场角，确定所述视觉传感器的焦距的初始值；或者，第二确定模块，配置为在获取不到所述视觉传感器的视场角的情况下，根据所述视觉传感器采集的图像的宽度和高度，确定所述视觉传感器的焦距的初始值。The device according to claim 22, wherein the internal parameters of the visual sensor include the focal length and the optical center of the visual sensor; the device further comprises: a first determining module, configured to obtain a field of view of the visual sensor after acquiring In the case of angle, the initial value of the focal length of the visual sensor is determined according to the width of the image collected by the visual sensor and the field of view of the visual sensor; In the case of the field angle of the vision sensor, the initial value of the focal length of the vision sensor is determined according to the width and height of the image collected by the vision sensor.
根据权利要求22或23所述的装置，其中，所述视觉传感器的内参包括所述视觉传感器的光心坐标，所述装置还包括：第三确定模块，配置为根据所述视觉传感器采集的图像的宽度和高度，确定所述视觉传感器的光心坐标的初始值。The apparatus according to claim 22 or 23, wherein the internal reference of the visual sensor includes the optical center coordinates of the visual sensor, and the apparatus further comprises: a third determination module configured to be configured according to the image collected by the visual sensor The width and height determine the initial values of the optical center coordinates of the vision sensor.
根据权利要求16至24中任一项所述的装置，其中，所述待标定参数包括所述惯性传感器与所述视觉传感器之间的坐标转换参数，其中，所述坐标转换参数包括所述惯性传感器与所述视觉传感器之间的平移参数和旋转参数中的至少之一；所述标定模块，配置为在所述视觉惯性***在所述当前时刻的状态数据中，所述惯性传感器的加速度计的零偏满足第四预设稳定性条件的情况下，开启对所述坐标转换参数的标定，其中，所述第四预设稳定性条件对应的加速度计的零偏的稳定性，高于第一预设稳定性条件对应的加速度计的零偏的稳定性。The apparatus according to any one of claims 16 to 24, wherein the parameter to be calibrated comprises a coordinate conversion parameter between the inertial sensor and the visual sensor, wherein the coordinate conversion parameter comprises the inertial sensor at least one of translation parameters and rotation parameters between the sensor and the visual sensor; the calibration module is configured to, in the state data of the visual-inertial system at the current moment, the accelerometer of the inertial sensor In the case where the zero offset of 2 satisfies the fourth preset stability condition, the calibration of the coordinate conversion parameter is enabled, wherein the stability of the zero offset of the accelerometer corresponding to the fourth preset stability condition is higher than that of the fourth preset stability condition. The stability of the zero bias of the accelerometer corresponding to a preset stability condition.
根据权利要求16至25中任一项所述的装置，其中，所述待标定参数包括所述视觉传感器的畸变参数，所述标定模块，配置为在根据所述视觉惯性***在所述当前时刻的状态数据，确定所述视觉传感器的内参满足第五预设稳定性条件的情况下，开启对所述视觉传感器的畸变参数的标定。The device according to any one of claims 16 to 25, wherein the parameter to be calibrated includes a distortion parameter of the visual sensor, and the calibration module is configured to perform the calibration at the current moment according to the visual inertial system When it is determined that the internal parameter of the visual sensor meets the fifth preset stability condition, the calibration of the distortion parameter of the visual sensor is started.
根据权利要求16至26中任一项所述的装置，其中，所述装置还包括：第四确定模块，配置为根据所述视觉惯性***的运动状态，确定所述当前时刻的保持固定的待标定参数。The device according to any one of claims 16 to 26, wherein the device further comprises: a fourth determination module, configured to determine, according to the motion state of the visual inertial system, the current moment to remain fixed Calibration parameters.
根据权利要求27所述的装置，其中，所述第四确定模块配置为至少一些之一：The apparatus of claim 27, wherein the fourth determination module is configured to be at least one of:

在所述视觉惯性***静止的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数；In the case that the visual inertial system is stationary, it is determined that the parameters to be calibrated that remain fixed at the current moment include a time offset, a translation parameter between the inertial sensor and the visual sensor, and the inertial sensor and the Rotation parameters between vision sensors;

在所述视觉传感器或者所述惯性传感器的平移参数为0且旋转参数不为0的情况下，确定在所述当前时刻保持固定的待标定参数包括所述惯性传感器与所述视觉传感器之间的平移参数；In the case that the translation parameter of the visual sensor or the inertial sensor is 0 and the rotation parameter is not 0, it is determined that the parameter to be calibrated that remains fixed at the current moment includes the difference between the inertial sensor and the visual sensor. translation parameter;

在所述视觉传感器或者所述惯性传感器绕着x轴、y轴和z轴中的一个轴旋转的情况下，确定在所述当前时刻保持固定的待标定参数包括所述惯性传感器与所述视觉传感器之间的平移参数中旋转轴对应的参数；In the case that the visual sensor or the inertial sensor rotates around one of the x-axis, the y-axis and the z-axis, it is determined that the parameters to be calibrated that remain fixed at the current moment include the inertial sensor and the visual sensor The parameters corresponding to the rotation axis in the translation parameters between sensors;

在所述视觉传感器或者所述惯性传感器绕着任一坐标轴以恒定的角速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数；In the case that the visual sensor or the inertial sensor moves around any coordinate axis at a constant angular velocity, it is determined that the parameters to be calibrated that remain fixed at the current moment include a time offset and the inertial sensor and the visual sensor The parameters corresponding to the coordinate axes in the translation parameters between;

在所述视觉传感器或者所述惯性传感器沿着任一坐标轴以恒定的速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数；In the case that the visual sensor or the inertial sensor moves at a constant speed along any coordinate axis, it is determined that the parameters to be calibrated that remain fixed at the current moment include a time offset and the inertial sensor and the visual sensor The parameters corresponding to the coordinate axes in the translation parameters between;

在所述视觉传感器或者所述惯性传感器绕着任一坐标轴以恒定的角加速度运动的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移以及所述惯性传感器与所述视觉传感器之间的平移参数中所述坐标轴对应的参数。In the case that the visual sensor or the inertial sensor moves around any coordinate axis with a constant angular acceleration, it is determined that the parameters to be calibrated that remain fixed at the current moment include a time offset and the relationship between the inertial sensor and the visual sensor. The parameter corresponding to the coordinate axis in the translation parameter between sensors.
根据权利要求16至23中任一项所述的装置，其中，所述装置还包括第五确定模块，配置为根据所述视觉惯性***的跟踪状态，确定所述当前时刻的保持固定的待标定参数。The device according to any one of claims 16 to 23, wherein the device further comprises a fifth determination module, configured to determine, according to the tracking state of the visual-inertial system, the to-be-calibrated remaining fixed at the current moment parameter.
根据权利要求29所述的装置，其中，所述第五确定模块配置为在所述视觉惯性***跟踪丢失的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数；和/或，The apparatus according to claim 29, wherein the fifth determining module is configured to determine the parameters to be calibrated that remain fixed at the current moment in the case that the visual-inertial system tracking is lost, including a time offset, the Translation parameters between the inertial sensor and the vision sensor and rotation parameters between the inertial sensor and the vision sensor; and/or,

在所述视觉惯性***当前跟踪到的特征点的数量小于预设数量的情况下，确定在所述当前时刻保持固定的待标定参数包括时间偏移、所述惯性传感器与所述视觉传感器之间的平移参数以及所述惯性传感器与所述视觉传感器之间的旋转参数。In the case that the number of feature points currently tracked by the visual inertial system is less than a preset number, it is determined that the parameters to be calibrated that remain fixed at the current moment include a time offset, a difference between the inertial sensor and the visual sensor The translation parameters of and the rotation parameters between the inertial sensor and the vision sensor.
一种电子设备，包括：An electronic device comprising:

一个或多个处理器；用于存储可执行指令的存储器；one or more processors; memory for storing executable instructions;

其中，所述一个或多个处理器被配置为调用所述存储器存储的可执行指令，以执行权利要求1至15中任意一项所述的方法。wherein the one or more processors are configured to invoke executable instructions stored in the memory to perform the method of any one of claims 1-15.
一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现权利要求1至15中任意一项所述的方法。A computer-readable storage medium having computer program instructions stored thereon, the computer program instructions implementing the method of any one of claims 1 to 15 when executed by a processor.
一种计算机程序，包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行配置为实现权利要求1至15中任意一项所述的方法。A computer program comprising computer readable code, when the computer readable code is run in an electronic device, a processor in the electronic device executes a method configured to implement any one of claims 1 to 15 .