The present invention relates to a real-time odometry estimation method using an IMU and a single image. The method comprises the following steps of: extracting and matching feature points using a monocular camera mounted on the front of a vehicle and an IMU sensor mounted on the inside of the vehicle; generating an initial map in a single image based on the extracted feature points; and estimating a motion model using the IMU and correcting an observation model using an extended Kalman filter.

    개시된 발명은 관성측정장치와 단일이미지를 이용한 실시간 자동차 이동경로 예측 방법에 관한 것이다. 개시된 방법은, 차량 앞쪽에 장착한 단안 카메라와 차량 내부에 장착한 IMU 센서를 이용하여 특징점을 추출하고 매칭하는 단계; 상기 추출된 특징점에 기초하여 단일 영상에서의 초기맵을 생성하는 단계; 및 확장 칼만 필터를 사용하여 관성 측정 장치를 이용한 운동 모델을 예측하고 관측 모델을 보정하는 단계를 포함한다.


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    Title :

    Method for Real-time Odometry Estimation using Mono camera and IMU sensor


    Additional title:

    관성측정장치와 단일이미지를 이용한 실시간 자동차 이동경로 예측 방법


    Contributors:

    Publication date :

    2019-06-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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