| 摘要 |
<p>The invention relates to a device (100) for determining depth data (d) from an optical sensor (10) that can be moving, the device (100) including: a means (20) for estimating a magnetic field (B), the means (20) including a set (21) of magnetic sensors to be arranged with rigid connection to the optical sensor (10), the set of sensors being intended to provide measurements (mB) of the magnetic field (B), and a processing unit (22) for determining field data (iB) that is representative of the magnetic field (B), from measurements (mB) of the magnetic field (B); the device further includes an inertial unit (30) including a set (31) of inertial sensors to be arranged with rigid connection to the optical sensor (10) and provide inertial measurements (mC) of the movement of the optical sensor (10), and a processing unit (32) for determining movement data (iC) that is representative of the movement of the optical sensor (10) from inertial measurements (mC), and includes a calculation unit (40) for determining, from the field data (iB), the movement data (iC), and the optical data (iO) provided by the optical sensor (10), depth data (d) from the optical sensor (10).</p> |
