Title:
Sensor fusion using inertia and image sensors
Document Type and Number:
Japanese Patent JP6325116
Kind Code:
B2
Abstract:
Systems, methods, and devices are provided for controlling a movable object using multiple sensors. In one aspect, a method for estimating state information for a movable object is provided. The method can comprise: receiving previous state information for the movable object; receiving inertial data from at least one inertial sensor carried by the movable object; receiving image data from at least two image sensors carried by the movable object; and determining updated state information for the movable object based on the previous state information, the inertial data, and the image data using an iterative optimization algorithm during the operation of the movable object.
Inventors:
Lin, Lee
Shen, Xiao Jie
Riu, Chiambo
Lynn, Youngen
Yang, Zenfei
Zao, Kayon
Shen, Xiao Jie
Riu, Chiambo
Lynn, Youngen
Yang, Zenfei
Zao, Kayon
Application Number:
JP2016547054A
Publication Date:
May 16, 2018
Filing Date:
May 23, 2015
Export Citation:
Assignee:
SZ DJI TECHNOLOGY CO.,LTD
International Classes:
G05D1/10; B64C27/08; B64C39/02; B64D47/08; G01C21/16; G06T1/00; G06T7/70; G06V20/13; G06V20/17; G08C17/00
Domestic Patent References:
| JP2006242943A |
Foreign References:
| US20110141485 | ||||
| CN101598556A | ||||
| US20140372091 |
Other References:
Dachuan Li et al.,"Invariant Extended Kalman Filter-based State Estimation for MAV in GPS-denied Environments",2014 International Conference on Advances in Computing, Communications and Informatics,2014年,pp. 803-810
Friedrich Fraundorfer et al.,"Vision-Based Autonomous Mapping and Exploration Using a Quadrotor MAV",2012 IEEE/RSJ International Conference on Intelligent Robotics and Systems,2012年,pp. 4557-4564
Andrew Chambers et al.,"Robust Multi-Sensor Fusion for Micro Aerial Vehicle Navigation in GPS Degrated/Denied Environments",2014 American Control Conference (ACC),2014年,pp. 1892-1899
Shaojie Shen et al.,"Vision-Based State Estimation for Autonomous Rotorcraft MAVs in Complex Environments",2013 IEEE International Conference on Robotics and Automation,2013年,pp. 1758-1764
小堀 他4名,"MEMSジャイロセンサと単眼カメラを利用した高精度で頑健な姿勢推定",計測自動制御学会論文集,2011年10月,Vol.47, No.10,pp. 442-449
Friedrich Fraundorfer et al.,"Vision-Based Autonomous Mapping and Exploration Using a Quadrotor MAV",2012 IEEE/RSJ International Conference on Intelligent Robotics and Systems,2012年,pp. 4557-4564
Andrew Chambers et al.,"Robust Multi-Sensor Fusion for Micro Aerial Vehicle Navigation in GPS Degrated/Denied Environments",2014 American Control Conference (ACC),2014年,pp. 1892-1899
Shaojie Shen et al.,"Vision-Based State Estimation for Autonomous Rotorcraft MAVs in Complex Environments",2013 IEEE International Conference on Robotics and Automation,2013年,pp. 1758-1764
小堀 他4名,"MEMSジャイロセンサと単眼カメラを利用した高精度で頑健な姿勢推定",計測自動制御学会論文集,2011年10月,Vol.47, No.10,pp. 442-449
Attorney, Agent or Firm:
Longhua International Patent Service Corporation