SENSOR FUSION USING INERTIAL AND IMAGE SENSORS

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, wh...

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Bibliographic Details
Main Authors LIN, Yi, LING, Yonggen, SHEN, Shaojie, ZHAO, Kaiyong, LIU, Tianbo, YANG, Zhenfei
Format Patent
LanguageEnglish
French
German
Published 30.08.2017
Subjects
CALCULATING
COMPUTING
CONTROLLING
COUNTING
GYROSCOPIC INSTRUMENTS
HANDLING RECORD CARRIERS
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
PRESENTATION OF DATA
RECOGNITION OF DATA
RECORD CARRIERS
REGULATING
SURVEYING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
TESTING
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Summary: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 image sensors 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.
Bibliography:Application Number: EP20150871317