摘要
从视觉数据和惯性测量单元(Inertial Measurement Unit, IMU)数据各自的特点出发,利用计算机视觉三维重建技术从视觉数据中恢复视觉传感器的六维位姿信息,分析计算惯性测量数据和视觉位姿数据的时空关系,实现融合视惯传感数据的场景重建及尺度估计,进而获取待测对象的绝对物理尺寸数据。上述方法在实验数据上取得了相对误差约为3%的非接触式物体尺寸估计结果,由于该方法无需在待测场景中嵌入额外标定物或辅助定位装置,具有较好的灵活性和适用范围。
In consideration of the visual data and the data from the inertial measurement unit(IMU) having the different characteristics, the 6D pose of the visual sensor is recovered from the captured video by using the vision-based 3D reconstruction techniques, the obtained pose information and inertial measurements is fused via the spatial-temporal alignment, and based on the determined scale of the visual 3D reconstruction the non-contact measurement of a scene is performed. The proposed approach achieves a relative measurement error of about 3% in the non-contact object size estimation experiment. As it does not require the additional calibration object or any special motion capture devices, the proposed method is flexible and is applicable in many potential areas.
作者
康来
魏迎梅
蒋杰
谢毓湘
Kang Lai;Wei Yingmei;Jiang Jie;Xie Yuxiang(College of Systems Engineering,National University of Defense Technology,Changsha 410073,China)
出处
《系统仿真学报》
CAS
CSCD
北大核心
2020年第5期892-900,共9页
Journal of System Simulation
基金
国家自然科学基金面上项目(61873274)。
关键词
视惯传感数据
三维重建
时空配准
非接触式物体尺寸获取
visual-inertial sensing data
3D reconstruction
spatial-temporal alignment
non-contact object size acquisition
