High-precision and high-robustness visual inertial odometer positioning method based on multi-camera observation

• Main Authors: WU ZIHAO, XIONG HUAJIE, LI RUI, YU BAOGUO, SHI YINGJING
• Format: Patent
• Language: Chinese; English
• Published: 25.06.2024
• Subjects: CALCULATING; COMPUTING; COUNTING; GYROSCOPIC INSTRUMENTS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention provides a high-precision and high-robustness visual inertial odometer positioning method based on multi-camera observation, which belongs to the technical field of computer vision, and comprises the following steps of: firstly, carrying out synchronous data acquisition of multiple cameras, carrying out multi-camera front-end feature tracking on each image in an image group, and obtaining a feature association result of each image group; based on this, a cost function is constructed, by constructing a three-layer adaptive confidence weighting model, adaptive multi-camera back-end state estimation is realized, and sliding window optimization is executed. According to the method, the three-layer adaptive confidence weighting model capable of adapting to scene change is constructed, so that the dynamic adjustment of the camera weight is realized, the multi-camera data is fused to the maximum extent and effectively utilized, the feature quality, the tracking error and the reliability of the camera o