State estimation device and state estimation method
AssigneesDenso Corporation, Toyota Jidosha Kabushiki Kaisha, MIRISE Technologies Corporation
InventorsNobuaki Matsudaira, Hui Xu
Life of this patent
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Abstract
By a state estimation device or a state estimation method, image data is read, a feature point included in the image data is extracted, the feature point is tracked, a position, a velocity, or an attitude of a mobile object is calculated based on inertia data, and a bias error of an inertial measurement unit is calculated. Correction data is calculated by removing the bias error from the inertia data, and a state including at least one of the position, the velocity, or the attitude of the mobile object is estimated based on the correction data.
Claims21
A state estimation device for estimating a state including at least one of a position, a velocity, or an attitude of a mobile object, the state estimation device comprising:
- at least one processor configured to
- read image data which is output by a camera configured to capture an image of a peripheral area of the mobile object and inertia data of the mobile object, the inertia data being output from an inertial measurement unit installed on the mobile object;
- perform preprocessing to
- extract a feature point included in the image data,
- track the feature point, and
- calculate the position, the velocity, or the attitude of the mobile object by performing inertia processing on the inertia data;
- calculate a bias error of the inertial measurement unit by performing bundle adjustment on the feature point of the image data, the position, the velocity, or the attitude of the mobile object based on the inertia data;
- calculate correction data by removing the bias error from the inertia data on which the inertia processing is not performed;
- and
- estimate a state including at least one of the position, the velocity, or the attitude of the mobile object based on the correction data.
A state estimation method for estimating a state including at least one of a position, a velocity, or an attitude of a mobile object, the state estimation method comprising:
- reading image data which is output by a camera configured to capture an image of a peripheral area of the mobile object and inertia data of the mobile object, the inertia data being output from an inertial measurement unit installed on the mobile object;
- extracting a feature point included in the image data;
- tracking the feature point;
- calculating the position, the velocity, or the attitude of the mobile object by performing inertia processing on the inertia data;
- calculating a bias error of the inertial measurement unit by performing bundle adjustment on the feature point of the image data and the position, the velocity, and the attitude of the mobile object based on the inertia data;
- calculating correction data by removing the bias error from the inertia data on which the inertia processing is not performed;
- and
- estimating a state including at least one of the position, the velocity, or the attitude of the mobile object based on the correction data.
Dependencies are inferred from the claim text.