WO2011088469A3 - Using object to align and calibrate inertial navigation system - Google Patents

Using object to align and calibrate inertial navigation system Download PDF

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Publication number
WO2011088469A3
WO2011088469A3 PCT/US2011/021577 US2011021577W WO2011088469A3 WO 2011088469 A3 WO2011088469 A3 WO 2011088469A3 US 2011021577 W US2011021577 W US 2011021577W WO 2011088469 A3 WO2011088469 A3 WO 2011088469A3
Authority
WO
WIPO (PCT)
Prior art keywords
positional
camera
information
inertial navigation
navigation system
Prior art date
Application number
PCT/US2011/021577
Other languages
French (fr)
Other versions
WO2011088469A2 (en
Inventor
Gengsheng Zhang
Lionel J. Garin
Original Assignee
Qualcomm Incorporated
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qualcomm Incorporated filed Critical Qualcomm Incorporated
Priority to EP11733540A priority Critical patent/EP2526379A2/en
Priority to CN2011800056980A priority patent/CN102834696A/en
Priority to JP2012549156A priority patent/JP2013517483A/en
Publication of WO2011088469A2 publication Critical patent/WO2011088469A2/en
Publication of WO2011088469A3 publication Critical patent/WO2011088469A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

Abstract

The initialization of an inertial navigation system is performed using information obtained from an image of an object. Positional and orientational information about the object in a global reference frame and positional and orientational information about the camera relative to the object are obtained from the image. Positional and orientational information for the camera in the global reference frame is determined along with a transformation matrix between inertial sensor reference frame and a navigation coordinate frame. The inertial navigation system is initialized using the positional and orientational information for the camera, the transformation matrix and the velocity of the camera when the object was imaged, i.e., zero. Using the initialized data with measurements from the inertial sensors the position of the mobile platform may be updated during navigation and provided, e.g., on a digital map. Inertial navigation errors may be corrected using information obtained from images of different objects.
PCT/US2011/021577 2010-01-18 2011-01-18 Using object to align and calibrate inertial navigation system WO2011088469A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP11733540A EP2526379A2 (en) 2010-01-18 2011-01-18 Using object to align and calibrate inertial navigation system
CN2011800056980A CN102834696A (en) 2010-01-18 2011-01-18 Using object to align and calibrate inertial navigation system
JP2012549156A JP2013517483A (en) 2010-01-18 2011-01-18 Alignment and calibration of inertial navigation systems using objects

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US12/689,085 2010-01-18
US12/689,085 US8855929B2 (en) 2010-01-18 2010-01-18 Using object to align and calibrate inertial navigation system

Publications (2)

Publication Number Publication Date
WO2011088469A2 WO2011088469A2 (en) 2011-07-21
WO2011088469A3 true WO2011088469A3 (en) 2012-01-05

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2011/021577 WO2011088469A2 (en) 2010-01-18 2011-01-18 Using object to align and calibrate inertial navigation system

Country Status (7)

Country Link
US (1) US8855929B2 (en)
EP (1) EP2526379A2 (en)
JP (1) JP2013517483A (en)
KR (1) KR20120105054A (en)
CN (1) CN102834696A (en)
TW (1) TW201144760A (en)
WO (1) WO2011088469A2 (en)

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