The invention relates to a vision initialization method and device and a hovercar. The method comprises the following steps: acquiring camera pose data in a world coordinate system converted from visual data of a camera in a visual inertial navigation odometer; obtaining IMU pose data under a world coordinate system, wherein the IMU pose data is obtained by processing the data of the IMU; performing fusion processing on the camera pose data and the IMU pose data by adopting a preset filtering mode and taking the camera pose data as an observed quantity and the IMU pose data as a pre-measured quantity to obtain fused pose data after fusion; and determining that initialization of the visual inertial navigation odometer is completed according to a condition that comparison between a feature vector obtained by analyzing the fused pose data in a preset mode and a preset threshold meets a preset condition. According to the scheme provided by the invention, the visual initialization stability of the odometer can be improved in an outdoor flight scene.
本申请涉及一种视觉初始化方法、装置及飞行汽车。该方法包括:获取视觉惯导里程计中将相机的视觉数据转换到世界坐标系下的相机位姿数据;获取将IMU的数据进行处理得到的世界坐标系下的IMU位姿数据;采用预设滤波方式,将所述相机位姿数据作为观测量,将所述IMU位姿数据作为预测量,对所述相机位姿数据和所述IMU位姿数据进行融合处理,得到融合后的融合位姿数据;根据对所述融合位姿数据进行预设方式分析得到的特征向量与预设阈值的比较符合预设条件,确定完成视觉惯导里程计的初始化。本申请提供的方案,能够在室外飞行场景下提高里程计的视觉初始化稳定性。
Visual initialization method and device and hovercar
视觉初始化方法、装置及飞行汽车
2023-04-07
Patent
Electronic Resource
Chinese