A method of visual-inertial odometry for a ground vehicle is disclosed and includes obtaining an initial set of images with a camera on-board a vehicle, identifying features within the initial set of images, determining a three-dimensional pose using the visual features in the initial set of images, obtaining information indicative of vehicle movement with an inertial measurement unit, obtaining information indicative of vehicle movement with wheel speed sensors and a steering wheel angle sensor, fusing the identified features within the images, the vehicle movement from the IMU, and vehicle sensors within a two-dimensional plane, and determining a vehicle position relative to an initial start location based on the visual features in the images and the vehicle movement information from the IMU, wheel speed sensors, and the steering wheel angle.
GROUND VEHICLE MONOCULAR VISUAL-INERTIAL ODOMETRY VIA LOCALLY FLAT CONSTRAINTS
2022-06-30
Patent
Elektronische Ressource
Englisch
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06K Erkennen von Daten , RECOGNITION OF DATA / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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