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EXTRINSIC PARAMETER CALIBRATION OF A VISION-AIDED INERTIAL NAVIGATION SYSTEM

  • US 20160005164A1
  • Filed: 02/21/2014
  • Published: 01/07/2016
  • Est. Priority Date: 02/21/2013
  • Status: Active Grant
First Claim
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1. A method for calibration of a vision-aided inertial navigation system comprising:

  • receiving image data produced by an image source of the vision-aided inertial navigation system, wherein the image data captures features of a calibration target;

    receiving, from an inertial measurement unit (IMU) of the vision-aided inertial navigation system, IMU data indicative of motion of the vision-aided inertial navigation system; and

    computing, based on the image data and the IMU data and using an estimator of the vision-aided inertial navigation system, calibration parameters for the vision-aided inertial navigation system concurrently with computation of a roll and pitch of the calibration target,wherein the calibration parameters define relative positions and orientations of the IMU and the image source of the vision-aided inertial navigation system.

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