摘要
为了对两种传感器进行更好的融合,以实现更高的组合导航定位精度,文章基于多状态约束卡尔曼滤波器,提出了一种能够在线标定双目相机与IMU相对姿态误差的方法。
In order to combine these two kinds of sensors and achieve better fusion results, this paper puts forward a method which can precisely calibrate the relative pose between the stereo cameras and IMU online.
作者
施佳良
宋来亮
江泽
Shi Jialiang;Song Lailiang;Jiang Ze(Xi’an Institute of Aerospace Precision Mechatronics,Xi’an 710100,China;Beihang University,School of Instrumentation and Optoelectronic Engineering,Beijing 100083,China)
出处
《无线互联科技》
2019年第24期121-123,131,共4页
Wireless Internet Technology
关键词
视觉导航
在线标定
紧耦合
惯性测量单元
多状态约束卡尔曼滤波
visual navigation
online calibration
tightly-coupling
inertial measurement unit
multi states constraint kalman filter
