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基于惯性引导采样的视觉IMU方向估计方法
Alternative TitleVisual inertial measurement unit based inertial guide sample estimation method
梁炜; 张吟龙; 谈金东; 张晓玲; 李杨
Department工业控制网络与系统研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract本发明提出了一种基于惯性引导采样的视觉IMU方向估计方法,即利用IMU的方向估计信息,引导视觉方向估计中匹配点对的采样过程和误匹配点的移除过程。包括基于增益自适应互补滤波器的IMU方向估计、基于尺度旋转不变的特征检测以及基于视觉IMU融合的方向估计三个步骤。本发明方法采用增益自适应互补滤波器,能够在初始迭代过程中剔除明显的误匹配点对,提高了方向估计的准确性;将IMU的姿态估计信息作为初值引入到视觉方向估计中,通过迭代移除误匹配点对,加快了方向估计的进程,有效避免了采用随机初始值带来的运算量大的问题。本发明方法适用性广、鲁棒性好、准确率高,可广泛应用在人体康复训练的动作捕捉过程中。
Other AbstractThe method involves estimating a gain adaptive complementary filter based on inertial measurement unit (IMU) direction. Feature detection process is performed according to scale-based rotation. Feature point detection and matching process is performed. Vision IMU fusion estimation process is performed based on the IMU direction. A gyroscope direction estimation value is calculated. Accelerometer and magnetic force direction estimation process is performed according to a complementary filtering algorithm to perform attitude estimation.
PCT Attributes
Application Date2015-07-29
2017-05-24
Date Available2019-01-22
Application NumberCN201510455818.7
Open (Notice) NumberCN106709223A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/20478
Collection工业控制网络与系统研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
梁炜,张吟龙,谈金东,等. 基于惯性引导采样的视觉IMU方向估计方法[P]. 2017-05-24.
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