Title:
EXTRINSIC PARAMETER CALIBRATION METHOD AND APPARATUS, AND MOVABLE PLATFORM AND COMPUTER-READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/193318
Kind Code:
A1
Abstract:
An extrinsic parameter calibration method and apparatus, and a movable platform and a computer-readable storage medium. The method comprises: during the movement process of a movable platform, collecting multi-frame image data by means of a rolling shutter sensor and collecting movement data by means of an inertial measurement unit; according to an exposure moment of each sensing unit in a plurality of sensing units of the rolling shutter sensor, determining an exposure moment of a feature point, corresponding to any sensing unit, in image data; according to the position of the feature point in the image data and the exposure moment of the feature point, determining pose change information, which changes over time, of the rolling shutter sensor; and determining a relative pose relationship between the rolling shutter sensor and the inertial measurement unit according to the pose change information and the movement data. By means of the method, the relative pose relationship between a rolling shutter sensor and an inertial measurement unit is accurately calibrated.
Inventors:
LING YONG (CN)
ZHOU YOU (CN)
LIU JIE (CN)
ZHOU YOU (CN)
LIU JIE (CN)
Application Number:
PCT/CN2021/081892
Publication Date:
September 22, 2022
Filing Date:
March 19, 2021
Export Citation:
Assignee:
SZ DJI TECHNOLOGY CO LTD (CN)
International Classes:
G06T7/70; G06T7/80
Foreign References:
| CN109074664A | 2018-12-21 | |||
| CN110880189A | 2020-03-13 | |||
| CN110378968A | 2019-10-25 | |||
| CN111551191A | 2020-08-18 | |||
| US20200327696A1 | 2020-10-15 | |||
| JP2017224984A | 2017-12-21 |
Attorney, Agent or Firm:
SHENZHEN LIDAO INTELLECTUAL PROPERTY AGENCY (GENERAL PARTNERSHIP) (CN)
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