SENSOR FUSION USING INERTIAL AND IMAGE SENSORS

• Main Authors: LIN, Yi, LING, Yonggen, SHEN, Shaojie, ZHAO, Kaiyong, LIU, Tianbo, YANG, Zhenfei
• Format: Patent
• Language: English; 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

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.