Sensor fusion using inertial and image sensors

• Main Authors: LING YONGGEN, YANG ZHENFEI, SHEN SHAOJIE, LIU TIANBO, LIN YI, ZHAO KAIYONG
• Format: Patent
• Language: Chinese; English
• Published: 27.03.2018
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

Systems, methods, and devices are provided for controlling a movable object using multiple sensors. In one aspect, a method for calibrating one or more extrinsic parameters of a movable object is provided. The method can comprise: receiving initial values for the one or more extrinsic parameters, wherein the one or more extrinsic parameters comprise spatial relationships between at least two imagesensors carried by the movable object; receiving inertial data from at least one inertial sensor carried by the movable object during the operation of the movable object; receiving image data from the at least two image sensors carried by the movable object during the operation of the movable object; and determining estimated values for the one or more extrinsic parameters based on the initial values, the inertial data, and the image data using an iterative optimization algorithm during the operation of the movable object. 本发明提供了用于使用多个传感器来控制可移动物体的系统、方法和装置。在方面，提供了用于标定可移动物体的个或多个外参的方法。所述方法可以包括：接收所述个或多个外参的初始值，其中所述个或多个外参包