Title:
CALIBRATION METHOD AND DEVICE FOR RELATIVE ATTITUDES OF CAMERA AND INERTIAL MEASUREMENT UNIT
Document Type and Number:
WIPO Patent Application WO/2020/259106
Kind Code:
A1
Abstract:
The present invention is suitable for the technical field of calibration, and provides a calibration method and device for relative attitudes of a camera and an inertial measurement unit (IMU). The method comprises: performing internal reference calibration on a camera and an IMU separately, both the camera and the IMU being provided on a mechanical arm; driving the mechanical arm to carry the camera and the IMU to move along a preset trajectory, and simultaneously acquiring first image data of a calibration board by means of the camera and first IMU data by means of the IMU; and if the camera is a rolling shutter camera, performing rolling calibration on the camera and obtaining a corresponding parameter value, and if the parameter value is within a first preset range, calculating relative external references of the camera and the IMU according to the first image data and the first IMU data. The method provided by the present invention improves the accuracy of calibrating the relative attitudes of the camera and the IMU.
Inventors:
PANG MINJIAN (CN)
LIU XIANZHUO (CN)
HUANG ZHIMING (CN)
ZENG JIE (CN)
WANG XIAOMENG (CN)
YANG HONGFEI (CN)
LIU XIANZHUO (CN)
HUANG ZHIMING (CN)
ZENG JIE (CN)
WANG XIAOMENG (CN)
YANG HONGFEI (CN)
Application Number:
PCT/CN2020/089868
Publication Date:
December 30, 2020
Filing Date:
May 12, 2020
Export Citation:
Assignee:
SHENZHEN ORBBEC CO LTD (CN)
International Classes:
G01C25/00; G06T7/80
Foreign References:
| CN110378968A | 2019-10-25 | |||
| CN109074664A | 2018-12-21 | |||
| CN109388874A | 2019-02-26 | |||
| JP2013092871A | 2013-05-16 | |||
| US20160379365A1 | 2016-12-29 |
Other References:
ZHAO, GUONAN ET AL.: "Chapter 3. Comprehensive and Modern Physics Experiments", PHYSICAL EXPERIMENT OF COLLEGE, 28 February 1996 (1996-02-28), pages 227, XP009525244, ISBN: 7-5635-0148-7
Attorney, Agent or Firm:
CHINA TRUER IP (CN)
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