熔光流陀螺仪的非欺骗特性

László Kundra, P. Ekler
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引用次数: 4

摘要

在移动电话中发现的标准陀螺仪往往在输出角速率上有偏差。如今,这些手机还配备了高分辨率相机和多媒体处理器,能够从拍摄的图像中计算光流。为了降低陀螺仪的偏置,从而导致较小的漂移积分角,基于相机的光流值可以帮助常规陀螺仪值产生稳健的输出。本文提出了一种融合光流角速率与陀螺仪输出的自适应算法,以消除相机视场内运动物体对相机图像产生的欺骗性跟踪特征。测量数据是用机器人手臂和安卓手机记录下来的。在MATLAB中进行了进一步的仿真测试,以研究该算法的局限性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Non-deceiving features in fused optical flow gyroscopes
Standard gyroscopes found in mobile phones tend to have bias in output angular rate. Nowadays these mobiles are also equipped with high resolution cameras and multimedia-ready processors capable to calculate optical flow from shot images. In order to lower the gyroscope bias, thus leading to a less drifting integrated angle, camera based optical flow values can aid regular gyroscope values to produce a robust output. In this paper an adaptive algorithm is presented to fuse optical flow angular rates with gyroscope output, in a way to eliminate deceiving tracked features on camera images, caused by moving object in the field of view of the camera. Measurements were recorded with a robotic arm using an Android phone. Further simulations were also tested in MATLAB to investigate the limits of this algorithm.
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