Visual-Inertial Adaptive Fusion Algorithm Based on Measurement Uncertainty

Fig. 4. Measurement uncertainty of visual positioning. (a) Translation in X axis; (b) translation in Y axis; (c) translation in Z axis; (d) rotation around X axis; (e) rotation around Y axis; (f) rotation around Z axis

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Fig. 5. Motion curve of T-mac and helmet system

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Fig. 6. Motion curves of visual position, ESKF, and proposed method

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Fig. 7. Relative pose between T-mac and helmet system. (a) Translation in X axis; (b) translation in Y axis; (c) translation in Z axis; (d) rotation around X axis; (e) rotation around Y axis; (f) rotation around Z axis

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Table 1. Extrinsic parameters from world coordinate system to laser tracker coordinate system
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Table 1. Extrinsic parameters from world coordinate system to laser tracker coordinate system
Rotation matrix Translation vector
$[\begin{matrix} 0.1638 & - 0.0050 & - 0.9865 \\ 0.9865 & - 0.0038 & 0.1638 \\ - 0.0046 & - 0.1000 & 0.0043 \end{matrix}]$ $[\begin{array}{l} - 960.3510 \\ - 2095.5485 \\ - 68.8629 \end{array}]$

Table 2. Standard deviation of relative pose of measurement sequence with small uncertainty of visual positioning

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Table 2. Standard deviation of relative pose of measurement sequence with small uncertainty of visual positioning

Standard deviation	Visual position	ESKF	Proposed method
R_x /（°）	0.0332	0.0314	0.0318
R_y /（°）	0.0192	0.0165	0.0172
R_z /（°）	0.0175	0.0194	0.0189
T_x /mm	1.3196	1.1995	1.1062
T_y /mm	1.4611	1.4019	1.3540
T_z /mm	1.1937	1.1636	1.1492

Table 3. Standard deviation of relative pose of measurement sequence with large uncertainty of visual positioning

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Table 3. Standard deviation of relative pose of measurement sequence with large uncertainty of visual positioning

Standard deviation	Visual position	ESKF	Proposed method
R_x /（°）	0.2149	0.1837	0.1858
R_y /（°）	0.1510	0.1341	0.0719
R_z /（°）	0.0718	0.0735	0.0524
T_x /mm	11.3176	9.8335	3.3020
T_y/mm	7.2154	6.4384	2.5462
T_z /mm	11.9169	10.9746	6.1778

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Xinxin Huang, Yongjie Ren, Keyao Ma, Zhiyuan Niu. Visual-Inertial Adaptive Fusion Algorithm Based on Measurement Uncertainty[J]. Acta Optica Sinica, 2023, 43(21): 2112003

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Paper Information

Category: Instrumentation, Measurement and Metrology

Received: Apr. 20, 2023

Accepted: Jun. 8, 2023

Published Online: Nov. 8, 2023

The Author Email: Ren Yongjie (yongjieren@tju.edu.cn)

DOI:10.3788/AOS230851

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Extrinsic parameters from world coordinate system to laser tracker coordinate system

Table 1. Extrinsic parameters from world coordinate system to laser tracker coordinate system

Table 2. Standard deviation of relative pose of measurement sequence with small uncertainty of visual positioning

Table 2. Standard deviation of relative pose of measurement sequence with small uncertainty of visual positioning

Table 3. Standard deviation of relative pose of measurement sequence with large uncertainty of visual positioning

Table 3. Standard deviation of relative pose of measurement sequence with large uncertainty of visual positioning