EXTRINSIC PARAMETER CALIBRATION OF A VISION-AIDED INERTIAL NAVIGATION SYSTEM
First Claim
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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Abstract
This disclosure describes various techniques for use within a vision-aided inertial navigation system (VINS). A VINS comprises an image source to produce image data comprising a plurality of images, and an inertial measurement unit (IMU) to produce IMU data indicative of a motion of the vision-aided inertial navigation system while producing the image data, wherein the image data captures features of an external calibration target that is not aligned with gravity. The VINS further includes a processing unit comprising an estimator that processes the IMU data and the image data to compute calibration parameters for the VINS 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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Citations
29 Claims
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1. A method for calibration of a vision-aided inertial navigation system comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 27, 28)
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16. A vision-aided inertial navigation system (VINS) comprising:
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an image source to produce image data comprising a plurality of images; an inertial measurement unit (IMU) to produce IMU data indicative of a motion of the vision-aided inertial navigation system while producing the image data, wherein the image data captures features of an external calibration target; a processing unit comprising an estimator that processes the IMU data and the image data to compute calibration parameters for the VINS 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. - View Dependent Claims (17, 18, 19, 21, 22, 29)
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20. (canceled)
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23-26. -26. (canceled)
Specification