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US 10,895,458 B2Granted
Method, apparatus, and system for determining a movement of a mobile platform
AssigneeSz Dji Technology Co., Ltd.
InventorsAng Liu, Jiaqi Yan
Life of this patent
Estimating the term…
Abstract
An apparatus and system for determining a movement of a mobile platform and methods for making and using same are provided. The method includes obtaining an error contribution value for a measurement of the movement of the mobile platform and estimate an error of the measurement based upon the obtained error contribution value.
Claims19
A method for determining a movement of a mobile platform through an apparatus that includes a processor, the method comprising:
- obtaining, through the processor, an error contribution value for a measurement of the movement of the mobile platform using a sensor, the error contribution value including at least one parameter, including:
- obtaining, through the processor, the measurement of the movement of the mobile platform based on at least one of a plurality of matching feature point pairs that are generated through data of the sensor;
- obtaining, through the processor, a value of the at least one parameter based on the measurement of the movement of the mobile platform, the at least one parameter including a number of one or more inlier feature point pairs and/or a binocular disparity associated with at least a portion of the one or more inlier feature point pairs, and the one or more inlier feature point pairs being selected from the plurality of matching feature point pairs;
- and
- determining, through the processor, the error contribution value based on the value of the at least one parameter;
- and
- estimating, through the processor based on the error contribution value, an error of the measurement of the movement according to a functional relationship between the error of the measurement of the movement and the error contribution value, thereby obtaining an accurate measurement of the movement of the mobile platform to attain an effective control of the mobile platform.
4 more elements
An apparatus for determining a movement of a mobile platform, comprising a processor configured to:
- obtain an error contribution value for a measurement of the movement of the mobile platform using a vision sensor, the error contribution value including at least one parameter;
- obtain the measurement of the movement of the mobile platform based on at least one of a plurality of matching feature point pairs that are generated through data of the vision sensor;
- obtain a value of the at least one parameter based on the measurement of the movement of the mobile platform, the at least one parameter including a number of one or more inlier feature point pairs and/or a binocular disparity associated with at least a portion of the one or more inlier feature point pairs, and the one or more inlier feature point pairs being selected from the plurality of matching feature point pairs;
- determine the error contribution value based on the value of the at least one parameter;
- and
- estimate, through the error contribution value, an error of the measurement of the movement according to a functional relationship between the error of the measurement of the movement and the error contribution value, thereby obtaining an accurate measurement of the movement of the mobile platform to attain an effective control of the mobile platform.
3 more elements
A method for estimating an error of measuring a movement of a mobile platform through an apparatus that includes a processor, the method comprising:
- hypothesizing, through the processor, a correlation between an error contribution value and the error of measuring the movement of the mobile platform, the correlation including a functional relationship between the error and the error contribution value and containing an unknown parameter, and the error contribution value including at least one parameter;
- collecting, through the processor, an experimental measurement value, a ground truth, and an error contribution value each corresponding to a test movement, the error contribution value of the test movement being generated in a measurement of the test movement by:
- obtaining, through the processor, the measurement of the test movement based on at least one of a plurality of matching feature point pairs associated with the test movement;
- obtaining, through the processor, a value of the at least one parameter based on the measurement of the test movement, the at least one parameter including a number of one or more inlier feature point pairs and/or a binocular disparity associated with at least a portion of the one or more inlier feature point pairs, and the one or more inlier feature point pairs being selected from the plurality of matching feature point pairs;
- and
- determining, through the processor, the error contribution value of the test movement based on the value of the at least one parameter;
- calculating, through the processor, an error of measuring the test movement based on the ground truth of the test movement and the experimental measurement value of the test movement;
- and
- fitting, through the processor, the hypothesized correlation to the error contribution value of the test movement and the error of measuring the test movement, to solve the unknown parameter of the correlation, thereby obtaining an accurate measurement of the movement of the mobile platform to attain an effective control of the mobile platform.
6 more elements
Dependencies are inferred from the claim text.