| 摘要 |
An optical inertial measurement unit or method for determining a six degrees of freedom pose in respect of a moving platform. The unit comprises a camera unit 10 comprised of at least three monocular cameras (14, 16, 18) spatially fixed with respect to each other and configured such that they cover motion of the platform along each of three substantially orthogonal axes and their fields of view do not overlap. Video output from each of the cameras is used to determine individual point correspondences and estimate, for each camera, a scale factor and the motion relative to a local 3D coordinate system associated with the respective camera. This motion can then be mapped to a global 3D coordinate system having its origin defined by a point between the cameras and the scale factors applied to determine a 6DOF pose with respect to the camera unit. An optical inertial measurement system is also disclosed. |
