Title:
VISUAL INERTIAL ODOMETRY METHOD THAT CONTAINS SELF-CALIBRATION AND IS BASED ON KEYFRAME SLIDING WINDOW FILTERING
Document Type and Number:
WIPO Patent Application WO/2023/155258
Kind Code:
A1
Abstract:
A visual inertial odometry method that contains self-calibration and is based on keyframe sliding window filtering, which belongs to the field of multi-sensor fusion navigation and positioning. In a traditional filtering method, old state quantities are continuously removed as time elapses, and in a situation of degraded motion, there is not enough parallax between frame bundles corresponding to a reserved state quantity, thus making it difficult to constrain motion and leading to drifting. The visual inertial odometry method that contains self-calibration and is based on keyframe sliding window filtering comprises several steps: image feature extraction, feature association based on keyframes, filter initialization, IMU-based state extrapolation, filter updating using feature observation, and keyframe-based state quantity management; and geometric parameters of a sensor can be estimated in real time. The described method is based on a keyframe organization state quantity; state quantities corresponding to keyframe bundles are not removed during degraded motion, so that good observation can still be ensured, and drifting is avoided. The described method is the first keyframe-based sliding window filtering method supporting self-calibration.
Inventors:
HUAI JIANZHU (CN)
ZHUANG YUAN (CN)
LIN YUKAI (CN)
ZHUANG YUAN (CN)
LIN YUKAI (CN)
Application Number:
PCT/CN2022/080346
Publication Date:
August 24, 2023
Filing Date:
March 11, 2022
Export Citation:
Assignee:
UNIV WUHAN (CN)
International Classes:
G01C21/00
Foreign References:
| CN113066127A | 2021-07-02 | |||
| CN111024066A | 2020-04-17 | |||
| CN111707261A | 2020-09-25 | |||
| CN111780754A | 2020-10-16 | |||
| CN113865584A | 2021-12-31 | |||
| CN114001733A | 2022-02-01 | |||
| US20160305784A1 | 2016-10-20 |
Other References:
STEFAN LEUTENEGGER, SIMON LYNEN, MICHAEL BOSSE, ROLAND SIEGWART, PAUL FURGALE: "Keyframe-based visual–inertial odometry using nonlinear optimization", THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, vol. 34, no. 3, 1 March 2015 (2015-03-01), pages 314 - 334, XP055417249, DOI: 10.1177/0278364914554813
Attorney, Agent or Firm:
SUZHOU CREATOR PATENT AND TRADEMARK AGENCY LTD. (CN)
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