CN115265598A - Method, device and system for calibrating an inertial measurement unit - Google Patents
Method, device and system for calibrating an inertial measurement unit Download PDFInfo
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- CN115265598A CN115265598A CN202210887659.8A CN202210887659A CN115265598A CN 115265598 A CN115265598 A CN 115265598A CN 202210887659 A CN202210887659 A CN 202210887659A CN 115265598 A CN115265598 A CN 115265598A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The embodiment of the disclosure discloses a method, a device and a system for calibrating an inertial measurement unit, wherein the method comprises the following steps: in the process that the mechanical arm moves from an initial position to a final position according to a preset motion trail, acquiring an image pair sequence acquired by using a binocular camera on the mechanical arm to a calibration plate, and determining parameter data of the binocular camera; respectively fixing a first to-be-measured inertia measurement unit and a second to-be-measured inertia measurement unit on a mechanical arm, controlling the mechanical arm to move according to the previous movement mode, and respectively acquiring a first inertia data sequence acquired by the first to-be-measured inertia measurement unit and a second inertia data sequence acquired by the second to-be-measured inertia measurement unit in the movement process of the mechanical arm; and calibrating the first inertial measurement unit to be measured and the second inertial measurement unit to be measured respectively based on the parameter data, the first inertial data sequence and the second inertial data sequence. The embodiment of the disclosure can improve the calibration efficiency when a plurality of IMUs are calibrated.
Description
Technical Field
The present disclosure relates to the field of Measurement technologies, and in particular, to a method, an apparatus, and a system for calibrating an Inertial Measurement Unit (IMU).
Background
In scenes such as Virtual Reality (VR), augmented Reality (AR), or Mixed Reality (MR), the terminal provides interactive immersive experience for the user by constructing a virtual environment.
Head-mounted display devices, such as VR or AR glasses, typically use the IMU to acquire pose data. To reduce IMU measurement errors, the IMU of a head-mounted display device typically needs to be calibrated. When IMU calibration is performed on a plurality of head-mounted display devices, how to improve IMU calibration efficiency is a problem to be solved urgently.
Disclosure of Invention
The present disclosure is proposed to solve the above technical problems. Embodiments of the present disclosure provide a method, apparatus, and system for calibrating an inertial measurement unit.
According to a first aspect of embodiments of the present disclosure, there is provided a method for calibrating an inertial measurement unit, comprising:
acquiring an image pair sequence acquired by using a binocular camera on the mechanical arm to a calibration plate in the process that the mechanical arm moves from an initial position to a final position according to a preset motion track;
determining parameter data of the binocular camera based on the sequence of image pairs, wherein the parameter data comprises: respective internal parameters of the binocular cameras and external parameters of the binocular cameras;
fixing a first to-be-detected inertial measurement unit on a mechanical arm, and acquiring a first inertial data sequence acquired by the first to-be-detected inertial measurement unit in the process that the mechanical arm moves from an initial position to an end position according to a preset motion track;
calibrating the first inertial measurement unit to be measured based on the parameter data and the first inertial data sequence;
fixing a second inertia measurement unit to be measured on the mechanical arm, and acquiring a second inertia data sequence acquired by the second inertia measurement unit to be measured in the process that the mechanical arm moves from an initial position to an end position according to a preset motion track;
and calibrating the second inertial measurement unit to be measured based on the parameter data and the second inertial data sequence.
According to a second aspect of embodiments of the present disclosure, there is provided an apparatus for calibrating an inertial measurement unit, comprising:
the image acquisition module is used for acquiring an image pair sequence acquired by using a binocular camera on the mechanical arm to the calibration plate in the process that the mechanical arm moves from an initial position to an end position according to a preset motion trail;
a camera parameter determination module for determining parameter data of a binocular camera based on the sequence of image pairs, wherein the parameter data comprises: respective internal parameters of the binocular cameras and external parameters of the binocular cameras;
the inertia data acquisition module is used for acquiring a first inertia data sequence acquired by the first inertia measurement unit to be measured in the process that the mechanical arm moves from an initial position to an end position according to a preset motion track when the first inertia measurement unit to be measured is fixed on the mechanical arm; the inertia data acquisition module is also used for acquiring a second inertia data sequence of a second inertia measurement unit to be measured in the process that the mechanical arm moves from the initial position to the termination position according to the preset motion track when the second inertia measurement unit is fixed on the mechanical arm;
the inertia measurement unit calibration module is used for calibrating the first to-be-measured inertia measurement unit based on the parameter data and the first inertia data sequence; the inertia measurement unit calibration module is further used for calibrating the second inertia measurement unit to be measured based on the parameter data and the second inertia data sequence.
According to a third aspect of embodiments of the present disclosure, there is provided a system for calibrating an inertial measurement unit, comprising:
the mechanical arm system comprises a mechanical arm and a driving system for driving the mechanical arm to move;
the jig is arranged on the mechanical arm and used for placing the binocular camera and the inertial measurement unit to be measured;
and the apparatus for calibrating an inertial measurement unit of the second aspect described above.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium storing a computer program for executing the method of the first aspect described above.
According to a fifth aspect of an embodiment of the present disclosure, there is provided an electronic apparatus including:
a processor;
a memory for storing processor-executable instructions;
a processor for reading executable instructions from the memory and executing the instructions to implement the method of the first aspect.
The technical solution of the present disclosure is further described in detail by the accompanying drawings and embodiments.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in more detail embodiments of the present disclosure with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the principles of the disclosure and not to limit the disclosure. In the drawings, like reference numbers generally represent like parts or steps.
FIG. 1 is an exemplary system architecture diagram of an embodiment of a method or apparatus for calibrating an inertial measurement unit that may be applied to the present disclosure;
FIG. 2 is a schematic flow chart diagram of a method for calibrating an inertial measurement unit in one embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of determining baseline data in one embodiment of the present disclosure;
FIG. 4 is a schematic flow chart illustrating the steps of determining whether parameter data is expected and adjusting according to the determination result according to an embodiment of the present disclosure;
FIG. 5 is a block diagram of an apparatus for calibrating an inertial measurement unit in one embodiment of the present disclosure;
fig. 6 is a block diagram of an electronic device provided in an exemplary embodiment of the present disclosure.
Detailed Description
Hereinafter, example embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the embodiments of the present disclosure and not all embodiments of the present disclosure, with the understanding that the present disclosure is not limited to the example embodiments described herein.
It should be noted that: the relative arrangement of parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
It will be understood by those of skill in the art that the terms "first," "second," and the like in the embodiments of the present disclosure are used merely to distinguish one element from another, and are not intended to imply any particular technical meaning, nor is the necessary logical order between them.
It is also understood that in embodiments of the present disclosure, "a plurality" may refer to two or more and "at least one" may refer to one, two or more.
It is also to be understood that any reference to any component, data, or structure in the embodiments of the disclosure, may be generally understood as one or more, unless explicitly defined otherwise or stated otherwise.
In addition, the term "and/or" in the present disclosure is only one kind of association relationship describing an associated object, and means that three kinds of relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in the present disclosure generally indicates that the former and latter associated objects are in an "or" relationship.
It should also be understood that the description of the various embodiments of the present disclosure emphasizes the differences between the various embodiments, and the same or similar parts may be referred to each other, so that the descriptions thereof are omitted for brevity.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.
The disclosed embodiments may be applied to electronic devices such as terminal devices, computer systems, servers, etc., which are operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of well known terminal devices, computing systems, environments, and/or configurations that may be suitable for use with electronic devices, such as terminal devices, computer systems, servers, and the like, include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network pcs, minicomputer systems, mainframe computer systems, distributed cloud computing environments that include any of the above, and the like.
Electronic devices such as terminal devices, computer systems, servers, etc. may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc. that perform particular tasks or implement particular abstract data types. The computer system/server may be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices.
FIG. 1 is an exemplary system architecture diagram of an embodiment of a method or apparatus for calibrating an inertial measurement unit that may be applied to the present disclosure.
As shown in fig. 1, the system architecture may include a robot arm 1, a jig 2, a binocular camera 3, a calibration board 4, a head mounted display device 5, and a processor (not shown in the figure) for calibrating the inertial measurement unit.
The robot arm 1 is arranged on the ground or on a flat-surfaced work table. The robot arm 1 can move accordingly according to a drive instruction of the drive device. The driving equipment can adopt a stepping motor to drive the mechanical arm to accurately move according to a driving instruction. Under a common condition, the positioning precision of the mechanical arm reaching a specified point is considered to meet the calibration requirement; if the positioning accuracy of the mechanical arm is not high enough, the positioning error can be compensated through correction.
The jig 2 is disposed on the robot arm 1, for example, detachably disposed on the robot arm 1, or fixedly disposed on the robot arm 1. Be provided with the fixed part that is used for placing binocular camera 3 and head mounted display device 5 on tool 2, wherein, binocular camera 3 and head mounted display device 5 can dismantle with tool 2 respectively and be connected. In an alternative manner, the position of the fixing part on the jig 2 may be adjusted in multiple degrees of freedom, for example, 3 degrees of freedom, or 6 degrees of freedom, so that the poses of the binocular camera 3 and the head-mounted display device 5 on the jig 2 may be adjusted.
The parameter data of the binocular camera 3 may include: respective internal parameters of the binocular cameras, and external parameters of the binocular cameras. Wherein the camera internal reference describes internal parameters of the camera including: principal point position and focal length; the external reference of the binocular camera describes a relative positional relationship between two cameras, including: a rotation vector for representing a rotational relationship between the two camera coordinate systems, and a translation vector for representing a translational relationship between the two camera coordinate systems. The parameter data of the binocular camera 3 is not limited thereto, and can be flexibly adjusted in actual situations. In addition, the binocular camera 3 may be connected to the processor through a network so that image data collected by the binocular camera 3 is transmitted to the processor.
The calibration plate 4 may be disposed below the binocular camera 3 as shown in fig. 1. The calibration plate is provided with calibration patterns.
The head-mounted display device 5 is internally provided with an Inertial Measurement Unit (IMU), and the IMU may be connected to the processor through a network to transmit IMU data to the processor. The head mounted display device 5 may be plural, and may include, for example, a first head mounted display device and a second head mounted display device. The first head-mounted display equipment is internally provided with a first inertia unit to be measured, and the second head-mounted display equipment is internally provided with a second inertia unit to be measured.
The processor can control the mechanical arm 1 to move from a preset initial position to a preset end position according to a preset motion track after the binocular camera 3 is fixed at a preset position of the jig 2, and control the binocular camera 3 to synchronously acquire images at the same frequency in the moving process of the mechanical arm 1, so that an image pair sequence acquired by the binocular camera 3 for the calibration plate 4 can be obtained. The processor may perform data processing analysis on the sequence of images to obtain parameter data for the binocular camera 3.
After the parameter data of the binocular camera 3 are obtained, the robot arm 1 may be controlled to move back to the initial position. Under the condition that the repetition precision of the mechanical arm 1 meets the calibration requirement and the parameter data of the binocular camera 3 and the pose of the calibration plate 4 are not changed, the inertial measurement unit of the head-mounted display equipment is calibrated. The repetition accuracy of the robot arm refers to the accuracy of the robot arm reaching the same position when the motion is repeated a plurality of times.
The first head-mounted display device is fixed on the jig 2. And controlling the mechanical arm 1 to move to the end position from the initial position again according to the preset motion track, and acquiring a first inertia data sequence acquired by the first inertial unit to be measured. And the processor calibrates the first inertial unit to be measured according to the first inertial data sequence and the parameter data of the binocular camera 3.
After the first inertial unit to be measured is calibrated, the first head-mounted display device is taken down from the jig 2, and then the second head-mounted display device is fixed at the position where the first head-mounted display device is placed. And controlling the mechanical arm 1 to move from the initial position to the final position according to the preset motion track again, and acquiring a second inertia data sequence acquired by a second inertia unit to be measured. And the processor calibrates the second inertia unit to be measured according to the second inertia data sequence and the parameter data of the binocular camera 3.
It can be understood that, under the condition that the repetition precision of the mechanical arm 1 is high, and the parameter data of the binocular camera 3 and the pose of the calibration plate are not changed, when calibrating the inertial measurement units of different head-mounted display devices, it is not necessary to repeatedly perform the internal and external parameter calculation and the image sequence pair acquisition of the camera, and only the parameter calculation and the image sequence pair acquisition of the binocular camera are performed once before calibrating the inertial measurement units of the head-mounted display devices, so that the calibration efficiency of the inertial measurement units of a plurality of head-mounted display devices to be tested is improved, the calibration process is simplified, the calibration time is shortened, and the calculation amount is reduced.
Exemplary method
FIG. 2 is a schematic flow chart diagram of a method for calibrating an inertial measurement unit in one embodiment of the present disclosure. The embodiment can be applied to an electronic device, as shown in fig. 2, and includes the following steps:
s20: in the process that the mechanical arm moves from the initial position to the final position according to the preset motion trail, an image pair sequence acquired by using a binocular camera on the mechanical arm for a calibration plate is acquired.
Motion instructions may be sent by the processor to a drive system of the robotic arm. The motion instruction may include data parameters indicating an initial position, a preset motion trajectory, and an end position of the robot arm.
When the driving system receives the movement instruction, it may first detect whether the current position of the robot arm is located at the initial position, for example, whether the coordinates of the robot arm at the current position are consistent with the coordinates of the initial position. And if the positions of the mechanical arms are inconsistent, adjusting the positions of the mechanical arms so that the mechanical arms are located at initial positions before the mechanical arms move according to the preset movement track.
When the mechanical arm is located at the initial position, the driving system controls the mechanical arm to move from the initial position to the end position according to the preset movement track, and in the movement process of the mechanical arm, the binocular camera is controlled to acquire images of the calibration plate, and the binocular camera acquires images synchronously according to the same frequency, so that an image pair sequence is obtained.
In one example of the present disclosure, let t0The moment is taken as the starting motion moment of the mechanical arm according to the preset motion track at t0The image pair acquired by the binocular camera at the moment on the calibration plate is { P0A，P0BAcquisition of calibration plate by one of the binocular camerasIs P0AThe other camera acquires an image P of the calibration plate0B。
Will tnThe moment is taken as the termination movement moment of the mechanical arm according to the preset movement track at tnThe mechanical arm is located at the end position at the moment, and the image pair acquired by the binocular camera to the calibration plate is { P }nA，PnB}。
In the motion process of the mechanical arm, the image pair sequence synchronously acquired by the binocular camera on the calibration plate can be { P }0A，P0B}、{P1A，P1B}、{P2A，P2B}、…、{P(n-2)A，P(n-2)B}、{P(n-1)A，P(n-1)B}、{PnA，PnB}。
S40: based on the sequence of image pairs, parameter data for the binocular camera is determined. Wherein the parameter data includes: respective internal parameters of the binocular cameras, and external parameters of the binocular cameras.
Internal reference of camera the internal reference describes the internal parameters of the camera, including: principal point location and focal length. For calibration of respective internal references of the binocular cameras, angular point information of a calibration plate can be extracted from an image pair sequence acquired by the calibration plate; estimating initial values of the coordinates of the principal point and the focal length: the initial value of the principal point coordinates can be set to be 1/2 of the image size; for the focal length, because the parallel straight lines of the real world intersect at two points after imaging projection, a circle can be fitted to the points on each line of the calibration plate on the image, and the distance of the intersection point of the two circles is divided by pi, so that the initial value of the focal length can be obtained; the calibration plate is used as a fixed reference coordinate system, and the size of the calibration plate can be obtained in advance, so that the three-dimensional coordinate of each angular point on the calibration plate under the reference coordinate system is known, in addition, the two-dimensional coordinate of each angular point on the calibration plate under the image coordinate system can be obtained, and the corresponding relation between the three-dimensional coordinate and the two-dimensional coordinate of each angular point is utilized, so that the pose of each frame of camera can be solved and used as a variable for subsequent optimization; and according to the pose of each frame of camera, converting the three-dimensional points under the fixed reference coordinate system into the camera coordinate system, obtaining the predicted projection position of the three-dimensional corner points of the calibration plate on the image plane by using the projection model of the camera, optimizing the pose and the camera internal parameters of each frame of camera, reducing the reprojection error and further obtaining the camera internal parameters.
The external reference of the binocular camera describes a relative positional relationship between two cameras, including: a rotation vector for representing a rotational relationship between the two camera coordinate systems, and a translation vector for representing a translational relationship between the two camera coordinate systems. For the calibration of the binocular camera external parameter, single camera calibration can be performed on the two cameras independently to obtain the respective internal parameter matrix K, absolute external parameter R (rotation matrix), t (translation matrix) and distortion coefficient d of the two cameras. And calculating the relative external parameters of the camera corresponding to each image pair, taking the median value as an initial value, and obtaining an optimal solution based on the minimized reprojection error and nonlinear iterative optimization, thereby obtaining the external parameters of the binocular camera.
S60: the first to-be-detected inertial measurement unit is fixed on the mechanical arm, and a first inertial data sequence acquired by the first to-be-detected inertial measurement unit is acquired in the process that the mechanical arm moves from an initial position to an end position according to a preset movement track.
Under the general condition, the repetition accuracy of the mechanical arm can meet the calibration requirement, and the parameter data of the binocular camera and the pose of the calibration plate are kept unchanged, so after the parameter data of the binocular camera 3 are obtained, the mechanical arm 1 can be controlled to move back to the initial position, and the calibration step of the inertial measurement unit of the head-mounted display device is started: fixing a first head-mounted display device on the jig 2, wherein the first head-mounted display device is internally provided with a first inertia measurement unit to be measured, controlling the mechanical arm 1 to move to the termination position from the initial position according to the preset motion track again, and acquiring a first inertia data sequence collected by the first inertia measurement unit to be measured.
S80: and calibrating the first to-be-measured inertia measurement unit based on the parameter data and the first inertia data sequence.
The first inertia data sequence comprises the acceleration and the angular velocity of the first inertia unit to be measured at different acquisition moments, and discrete states can be described into continuous states by means of a Bessel curve. Wherein the bezier curve divides the entire curve into a plurality of segments, each segment using a different polynomial, and the polynomial coefficients are calculated in a recursive manner. The acceleration and angular velocity of the inertial data series of successive states are integrated to obtain the velocity, position and rotation.
Wherein, demarcating the first inertia measurement unit that awaits measuring includes the external reference demarcation of binocular camera and the first inertia measurement unit that awaits measuring, and the demarcation process can include: roughly estimating the time delay between the binocular camera and the first to-be-measured inertial measurement unit; acquiring initial rotation between the binocular camera and the first to-be-detected inertial measurement unit, an initial value of acceleration offset of the first to-be-detected inertial measurement unit and an initial value of gyroscope offset; and optimizing all corner re-projection errors, measurement errors of an accelerometer and a gyroscope of the first to-be-measured inertial measurement unit and bias random walk noise. The time delay between the binocular camera and the first inertia measurement unit to be measured can be roughly estimated by utilizing the correlation of angular velocity time curves of the binocular camera and the first inertia measurement unit to be measured at different moments. An optimization problem can be constructed by utilizing the angular velocity measurement relation between the binocular camera and the first to-be-measured inertial measurement unit, so that the initial rotation between the binocular camera and the first to-be-measured inertial measurement unit, the initial value of the acceleration offset of the first to-be-measured inertial measurement unit and the initial value of the gyroscope offset can be obtained. The method can construct the joint optimization of error items including the reprojection errors of all the corner points of the calibration board, the measurement errors of the accelerometer and the gyroscope of the first to-be-measured inertial measurement unit and the biased random walk noise, and adjust all the error items through the joint optimization so as to minimize all the observation errors.
S100: and fixing the second inertia measurement unit to be measured on the mechanical arm, and acquiring a second inertia data sequence acquired by the second inertia measurement unit to be measured in the process that the mechanical arm moves from the initial position to the final position according to the preset motion track.
S120: and calibrating the second inertial measurement unit to be measured based on the parameter data and the second inertial data sequence.
It should be noted that the embodiments of steps S100 and S120 are similar to the embodiments of steps S60 and S80, and the difference is that the first inertia measurement unit under test is replaced by the second inertia measurement unit under test.
In this embodiment, the mechanical arm is controlled to move from the initial position to the end position according to the preset movement trajectory for multiple times, when the repetition precision of the mechanical arm is high and the parameter data of the binocular camera and the pose of the calibration plate are both kept unchanged, the fast calibration of the multiple inertial measurement units to be measured can be realized by combining the acquired inertial data sequence of the inertial measurement units to be measured based on the acquired group of parameter data of the binocular camera and the acquired image sequence pair, the internal and external reference calculation of the camera and the acquisition of the image sequence pair are not required to be repeatedly performed, the calibration efficiency of the inertial measurement units of the multiple head-mounted display devices to be measured is improved, the calibration process is simplified, the calibration duration is shortened, and the calculation amount is reduced.
FIG. 3 is a schematic flow chart illustrating the determination of reference data according to an embodiment of the present disclosure. As shown in fig. 3, in an embodiment of the present disclosure, before step S20, the method may further include:
s02: and acquiring a reference image pair sequence acquired by the binocular camera on the calibration plate in the process that the mechanical arm moves from the initial position to the final position according to the preset motion trail.
S04: based on the sequence of reference image pairs, reference data is determined. Wherein the reference data includes: respective reference internal references of the binocular cameras, and reference external references of the binocular cameras.
It should be noted that steps S02 and S04 are performed when the calibration system is initially deployed, and similar to the embodiments of steps S2 and S4, the difference is that reference data of the binocular camera is obtained through steps S02 and S04 as a comparison reference for subsequent determination.
Fig. 4 is a schematic flow chart illustrating the steps of determining whether the parameter data is expected and adjusting according to the determination result according to an embodiment of the disclosure. As shown in fig. 4, after step S40 is executed and before step S60 is executed, the method may further include:
s50: and judging whether the parameter data is in accordance with the expectation according to the reference data and the parameter data, and executing the step S60 when the parameter data is judged to be in accordance with the expectation.
In the present embodiment, whether the parameter data of the binocular camera has changed is determined by comparing the reference data and the parameter data, thereby determining whether the parameter data meets expectations. When the parameter data are judged to be in accordance with expectations, the internal and external parameters of the binocular camera are basically kept unchanged in the process that the mechanical arm moves from the initial position to the end position according to the preset motion trail, at the moment, the multiple inertial measurement units to be measured are calibrated based on a group of parameter data of the binocular camera and the acquired image pair sequence, the calibration flow can be simplified, the calibration duration can be shortened, the calculated amount is reduced, and meanwhile, the accuracy of the calibration results of the multiple inertial measurement units to be measured is guaranteed.
In an embodiment of the disclosure, if the internal and external parameters of the binocular camera change greatly in the process of multiple movements of the mechanical arm, that is, the parameter data are determined not to meet expectations, when the inertial measurement units to be measured are calibrated based on a set of parameter data of the binocular camera, the accuracy of the calibration result is difficult to guarantee. In an embodiment of the present disclosure, in step S50, determining whether the parameter data meets expectations according to the reference data and the parameter data may specifically include: and if the internal reference deviation between the respective internal reference of the binocular cameras and the respective reference internal reference of the binocular cameras is smaller than a preset internal reference deviation threshold value, and the external reference deviation between the respective reference external reference of the external participating binocular cameras of the binocular cameras is smaller than a preset first external reference deviation threshold value, judging that the parameter data are in accordance with expectations.
In this embodiment, when the mechanical arm moves from the initial position to the end position according to the preset motion trajectory for multiple times, when the deviations between the internal and external parameters of the binocular camera are both smaller than the corresponding deviation threshold values, the accuracy of the calibration results of the multiple inertial measurement units to be measured can be ensured.
In one embodiment of the present disclosure, the parameter data of the binocular camera may further include: at least one of an outlier deviation between a first camera of the binocular cameras and the calibration plate, and a trajectory deviation of the first camera. Accordingly, in step S50, the determination that the parameter data meets the expected condition further includes at least one of the following conditions: the external reference deviation between the first camera and the calibration board is smaller than a preset second external reference deviation threshold value, and the track deviation of the first camera is smaller than a track deviation threshold value.
In this embodiment, when the mechanical arm moves from the initial position to the end position according to the preset movement trajectory for multiple times, and when the deviations between the external reference and the internal reference of the binocular camera are both smaller than the corresponding deviation threshold, it may be further determined whether at least one of the external reference deviation between the first camera and the calibration board and the trajectory deviation of the first camera is smaller than the corresponding deviation threshold. When the external reference deviation between the first camera and the calibration plate is smaller than the corresponding deviation threshold value, the relative pose of the first camera and the calibration plate is considered to be kept; when the trajectory deviation of the first camera is smaller than the corresponding deviation threshold, the repetition accuracy of the mechanical arm is considered to meet the calibration requirement. The accuracy of the calibration results of the multiple inertia measurement units to be measured can be further ensured.
When the parameter data is determined not to be in accordance with the expectation, step S52 is executed: at least one of the binocular camera, the calibration plate and the mechanical arm is adjusted. The method specifically comprises the following steps:
if the parameter data is determined to be not in accordance with the expectation, at least one of the following adjustments is made:
and if at least one of the internal reference deviations of the binocular cameras is greater than or equal to a preset internal reference deviation threshold value, adjusting the internal reference of the camera with the internal reference deviation greater than or equal to the preset internal reference deviation threshold value.
And if the external parameter deviation of the binocular camera is greater than or equal to a preset first external parameter deviation threshold value, adjusting the relative position and posture of the binocular camera.
And if the external parameter deviation between the first camera and the calibration board is greater than or equal to a preset second external parameter deviation threshold value, adjusting the relative position and posture of the first camera and the calibration board.
And if the track deviation of the first camera is greater than or equal to the track deviation threshold value, adjusting the motion track of the mechanical arm.
In this embodiment, when a certain deviation between the reference data and the parameter data is greater than a corresponding deviation threshold, the internal reference of the binocular camera, the external reference between the first camera and the calibration board, or the motion trajectory of the mechanical arm may be adjusted, so that when the adjusted mechanical arm moves for multiple times, the internal reference and the external reference of the binocular camera, the external reference between the first camera and the calibration board, and the motion trajectory deviation of the mechanical arm are all within a corresponding deviation range, thereby ensuring the accuracy of the calibration results of the multiple inertial measurement units to be measured.
In an embodiment of the present disclosure, after step S52, the method may further include:
s54: based on the re-acquired sequence of image pairs, adjusted parameter data for the binocular camera is determined.
S56: based on the reference data and the adjusted parameter data, judging whether the adjusted parameter data is in accordance with expectation: if the adjusted parameter data is determined to meet the expectation, executing step S60; if the adjusted parameter data is determined not to be in accordance with the expectation, step S52 is performed again until the adjusted parameter data is in accordance with the expectation.
In this embodiment, after at least one of the binocular camera, the calibration plate, or the mechanical arm is adjusted, whether the adjusted parameter data of the binocular camera meets expectations is detected, and if not, adjustment is performed again until the adjusted parameter data of the binocular camera meets expectations, so that the calibration accuracy of the inertial measurement units to be measured can be further ensured.
In one embodiment of the present disclosure, the sequence of reference image pairs comprises a first sequence of reference images acquired by a first camera, and the sequence of image pairs comprises a first sequence of images acquired by the first camera. Wherein the trajectory deviation of the first camera is obtained by:
obtaining a first relative motion track of the first camera relative to the calibration board based on the first reference image sequence; obtaining a second relative motion track of the first camera relative to the calibration board based on the first image sequence; performing alignment processing on the first relative motion trajectory and the second relative motion trajectory on a time axis, for example, performing alignment processing in a fast fourier transform manner; and calculating the root mean square error of the first relative motion track and the second relative motion track at the same moment to serve as the track deviation of the first camera.
In this embodiment, the first reference image sequence and the first image sequence may be subjected to trajectory analysis, so as to determine a first motion trajectory and a second motion trajectory of the first camera relative to the calibration board, and a trajectory deviation of the first camera may be effectively obtained in a time axis alignment and mean square error calculation manner, so that the motion trajectory of the mechanical arm may be adjusted according to the trajectory deviation of the first camera, and further, the accuracy of the calibration result of the plurality of inertial measurement units to be measured may be ensured by reducing the trajectory deviation.
In one embodiment of the present disclosure, the external reference deviation between the first camera and the calibration plate is obtained by: and determining the relative rotation parameter and the translation parameter of the first camera and the relative rotation parameter and the translation parameter of the calibration plate in the two-time movement process of the binocular camera for acquiring the reference pair image sequence and the image pair sequence as the external reference deviation between the first camera and the calibration plate.
In this embodiment, the image sequence and the image pair sequence may be analyzed and processed through the reference, and the relative rotation parameter and the translation parameter of the first camera, and the relative rotation parameter and the translation parameter of the calibration board are quickly obtained as the external reference deviation between the first camera and the calibration board.
Any of the methods for calibrating an inertial measurement unit provided by embodiments of the present disclosure may be performed by any suitable device having data processing capabilities, including but not limited to: terminal equipment, a server and the like. Alternatively, any of the methods for calibrating an inertial measurement unit provided by the embodiments of the present disclosure may be executed by a processor, such as the processor executing any of the methods for calibrating an inertial measurement unit mentioned by the embodiments of the present disclosure by calling corresponding instructions stored in a memory. And will not be described in detail below.
Exemplary devices
FIG. 5 is a block diagram of an apparatus for calibrating an inertial measurement unit in one embodiment of the present disclosure. As shown in fig. 5, the device for calibrating an inertial measurement unit comprises:
the system comprises an image acquisition module 100, a calibration board and a calibration processing module, wherein the image acquisition module is used for acquiring an image pair sequence acquired by using a binocular camera on a mechanical arm to the calibration board in the process that the mechanical arm moves from an initial position to a final position according to a preset movement track;
a camera parameter determination module 200 configured to determine parameter data of the binocular camera based on the sequence of image pairs, wherein the parameter data includes: respective internal parameters of the binocular cameras, and external parameters of the binocular cameras;
the inertial data acquisition module 300 is configured to, when a first to-be-detected inertial measurement unit is fixed to the mechanical arm, acquire a first inertial data sequence acquired by the first to-be-detected inertial measurement unit in a process that the mechanical arm moves from the initial position to the end position according to the preset motion trajectory; the inertial data acquisition module 300 is further configured to, when a second inertial measurement unit is fixed to the mechanical arm, obtain a second inertial data sequence of the second inertial measurement unit to be measured in a process that the mechanical arm moves from the initial position to the end position according to the preset motion trajectory;
an inertia measurement unit calibration module 400, configured to calibrate the first to-be-measured inertia measurement unit based on the parameter data and the first inertia data sequence; the inertia measurement unit calibration module is further configured to calibrate the second inertia measurement unit to be measured based on the parameter data and the second inertia data sequence.
In an embodiment of the present disclosure, the image acquisition module 100 is further configured to acquire a reference image pair sequence acquired by the binocular camera on the calibration board in a process that the mechanical arm moves from the initial position to the end position according to the preset motion trajectory; the camera parameter determination module 200 is further configured to determine reference data based on the sequence of reference image pairs, wherein the reference data comprises: the respective reference internal parameters of the binocular cameras and the reference external parameters of the binocular cameras; the inertia measurement unit calibration module 400 is further configured to determine whether the parameter data is in accordance with an expectation based on the reference data and the parameter data, and when it is determined that the parameter data is in accordance with the expectation, control to fix the first to-be-measured inertia measurement unit to the mechanical arm, and obtain a first inertia data sequence acquired by the first to-be-measured inertia measurement unit in a process that the mechanical arm moves from the initial position to the end position according to the preset movement trajectory.
In an embodiment of the present disclosure, the inertial measurement unit calibration module 400 is further configured to determine that the parameter data is in accordance with an expectation if the internal reference deviations between the respective internal references of the binocular cameras and the respective reference internal references of the binocular cameras are smaller than a preset internal reference deviation threshold, and the external reference deviation between the respective external references of the binocular cameras and the reference external references of the binocular cameras is smaller than a preset first external reference deviation threshold.
In one embodiment of the present disclosure, the parameter data further includes at least one of an outlier bias between a first camera of the binocular cameras and the calibration board, and a trajectory bias of the first camera; the condition for judging the parameter data to meet the expectation further comprises at least one of the following conditions: and the external parameter deviation between the first camera and the calibration board is smaller than a preset second external parameter deviation threshold value, and the track deviation of the first camera is smaller than a track deviation threshold value.
In one embodiment of the present disclosure, the apparatus for calibrating an inertial measurement unit further comprises an adjustment module for making at least one of the following adjustments if the parameter data is determined to be not in agreement with an expectation:
if at least one of the respective internal reference deviations of the binocular cameras is greater than or equal to the preset internal reference deviation threshold value, adjusting the internal reference of the camera with the internal reference deviation greater than or equal to the preset internal reference deviation threshold value;
if the external parameter deviation of the binocular camera is larger than or equal to the preset first external parameter deviation threshold value, adjusting the relative position and posture of the binocular camera;
if the external reference deviation between the first camera and the calibration board is greater than or equal to the preset second external reference deviation threshold value, adjusting the relative position and posture of the first camera and the calibration board;
and if the track deviation of the first camera is greater than or equal to the track deviation threshold value, adjusting the motion track of the mechanical arm.
In an embodiment of the present disclosure, the image capturing module 100 is further configured to control the mechanical arm to move from the initial position to the end position according to the preset motion trajectory, and obtain an image pair sequence re-captured by the binocular camera on the calibration board; the camera parameter determination module 200 is further configured to determine adjusted parameter data of the binocular camera based on the re-acquired sequence of image pairs; the adjusting module is further used for judging whether the adjusted parameter data is in accordance with expectations or not based on the reference data and the adjusted parameter data; if the adjusted parameter data is judged to be in accordance with the expectation, sending an execution instruction to the inertial data acquisition module 300, so that the inertial data acquisition module 300 executes the fixing of the first to-be-detected inertial measurement unit on the mechanical arm, and acquiring the inertial data acquired by the first to-be-detected inertial measurement unit in the process that the mechanical arm moves from the initial position to the end position according to the preset motion track; the adjusting module is further configured to perform the adjusting step again until the adjusted parameter data meets the expectation if it is determined that the adjusted parameter data does not meet the expectation.
In one embodiment of the present disclosure, the sequence of reference image pairs comprises a first sequence of reference images acquired by the first camera, the sequence of image pairs comprises a first sequence of images acquired by the first camera, a trajectory deviation of the first camera is obtained by:
obtaining a first relative motion track of the first camera relative to the calibration plate based on the first reference image sequence;
obtaining a second relative motion track of the first camera relative to the calibration board based on the first image sequence;
aligning the first relative motion track and the second relative motion track on a time axis;
and calculating the root mean square error of the first relative motion track and the second relative motion track at the same moment to serve as the track deviation of the first camera.
In one embodiment of the present disclosure, the external reference deviation between the first camera and the calibration board is obtained by:
and determining the relative rotation parameter and the translation parameter of the first camera and the relative rotation parameter and the translation parameter of the calibration plate in the two-time movement process of acquiring the reference pair image sequence and the image pair sequence of the binocular camera as the external reference deviation between the first camera and the calibration plate.
It should be noted that, a specific implementation of the apparatus for calibrating an inertial measurement unit according to the embodiment of the present disclosure is similar to a specific implementation of the method for calibrating an inertial measurement unit according to the embodiment of the present disclosure, and for specific reference, a method portion for calibrating an inertial measurement unit is specifically referred to, and in order to reduce redundancy, no repeated description is given.
In addition, the embodiment of the present disclosure further discloses a system for calibrating an inertial measurement unit, including:
the mechanical arm system comprises a mechanical arm and a driving system for driving the mechanical arm to move;
the jig is arranged on the mechanical arm and used for placing a binocular camera and the to-be-measured inertia measurement unit;
and the device for calibrating the inertial measurement unit of the above embodiment.
Exemplary electronic device
Next, an electronic apparatus according to an embodiment of the present disclosure is described with reference to fig. 6. As shown in fig. 6, the electronic device includes one or more processors 10 and a memory 20.
The processor 10 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.
Memory 20 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 10 to implement the method for calibrating an inertial measurement unit of the various embodiments of the disclosure described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the electronic device may further include: an input device 30 and an output device 40, which are interconnected by a bus system and/or other form of connection mechanism (not shown). The input device 30 may be, for example, a keyboard, a mouse, or the like. Output devices 40 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, among others.
Of course, for simplicity, only some of the components of the electronic device relevant to the present disclosure are shown in fig. 6, omitting components such as buses, input/output interfaces, and the like. In addition, the electronic device may include any other suitable components, depending on the particular application.
Exemplary computer readable storage Medium
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present disclosure have been described above in connection with specific embodiments, but it should be noted that advantages, effects, and the like, mentioned in the present disclosure are only examples and not limitations, and should not be considered essential to the various embodiments of the present disclosure. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the disclosure is not intended to be limited to the specific details so described.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The block diagrams of devices, apparatuses, systems referred to in this disclosure are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
The method and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
It is also noted that in the devices, apparatuses, and methods of the present disclosure, each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be considered equivalents of the present disclosure.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the disclosure to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (12)
1. A method for calibrating an inertial measurement unit, comprising:
acquiring an image pair sequence acquired by using a binocular camera on the mechanical arm to a calibration plate in the process that the mechanical arm moves from an initial position to a terminal position according to a preset motion trail;
determining parameter data for the binocular camera based on the sequence of image pairs, wherein the parameter data comprises: respective internal parameters of the binocular cameras, and external parameters of the binocular cameras;
fixing a first to-be-detected inertial measurement unit on the mechanical arm, and acquiring a first inertial data sequence acquired by the first to-be-detected inertial measurement unit in the process that the mechanical arm moves from the initial position to the termination position according to the preset motion track;
calibrating the first to-be-measured inertial measurement unit based on the parameter data and the first inertial data sequence;
fixing a second inertia measurement unit to be measured on the mechanical arm, and acquiring a second inertia data sequence acquired by the second inertia measurement unit to be measured in the process that the mechanical arm moves from the initial position to the termination position according to the preset motion track;
and calibrating the second inertial measurement unit to be measured based on the parameter data and the second inertial data sequence.
2. The method of claim 1, wherein before the acquiring the sequence of image pairs for the calibration plate by using the binocular camera on the mechanical arm during the movement of the mechanical arm from the initial position to the end position according to the preset movement track, the method further comprises:
acquiring a reference image pair sequence acquired by the binocular camera on the calibration plate in the process that the mechanical arm moves from the initial position to the end position according to the preset motion trail;
determining reference data based on the sequence of reference image pairs, wherein the reference data comprises: the respective reference internal parameters of the binocular cameras and the reference external parameters of the binocular cameras;
and judging whether the parameter data are in accordance with expectations or not based on the reference data and the parameter data, and when the parameter data are judged to be in accordance with expectations, executing the step of fixing the first inertial measurement unit to be measured on the mechanical arm and acquiring a first inertial data sequence collected by the first inertial measurement unit to be measured in the process that the mechanical arm moves from the initial position to the termination position according to the preset motion track.
3. The method of claim 2, wherein said determining whether the parametric data meets expectations based on the baseline data and the parametric data comprises:
and if the internal reference deviation between the respective internal reference of the binocular camera and the respective reference internal reference of the binocular camera is smaller than a preset internal reference deviation threshold value, and the external reference deviation between the external reference of the binocular camera and the reference external reference of the binocular camera is smaller than a preset first external reference deviation threshold value, judging that the parameter data are in accordance with expectations.
4. The method of claim 3, wherein the parameter data further comprises at least one of an outlier bias between a first camera of the binocular cameras and the calibration board, and a trajectory bias of the first camera;
the condition for judging the parameter data to meet the expectation further comprises at least one of the following conditions: and the external parameter deviation between the first camera and the calibration board is smaller than a preset second external parameter deviation threshold value, and the track deviation of the first camera is smaller than a track deviation threshold value.
5. The method of claim 4, wherein after said determining whether the parameter data is expected based on the baseline data and the parameter data, further comprising: if the parameter data is determined to be not in accordance with the expectation, performing at least one of the following adjustments:
if at least one of the respective internal reference deviations of the binocular cameras is greater than or equal to the preset internal reference deviation threshold value, adjusting the internal reference of the camera with the internal reference deviation greater than or equal to the preset internal reference deviation threshold value;
if the external reference deviation of the binocular camera is larger than or equal to the preset first external reference deviation threshold value, adjusting the relative position and posture of the binocular camera;
if the external reference deviation between the first camera and the calibration board is greater than or equal to the preset second external reference deviation threshold value, adjusting the relative position and posture of the first camera and the calibration board;
and if the track deviation of the first camera is greater than or equal to the track deviation threshold value, adjusting the motion track of the mechanical arm.
6. The method of claim 5, wherein after the adjusting, further comprising:
controlling the mechanical arm to move from the initial position to the final position according to the preset motion trail, and acquiring an image pair sequence acquired by the binocular camera again for the calibration plate;
determining adjusted parameter data for the binocular camera based on the re-acquired sequence of image pairs;
judging whether the adjusted parameter data is in accordance with expectations or not based on the reference data and the adjusted parameter data;
if the adjusted parameter data are judged to be in accordance with expectations, the step of fixing the first inertial measurement unit to be measured on the mechanical arm and acquiring the inertial data collected by the first inertial measurement unit to be measured in the process that the mechanical arm moves from the initial position to the end position according to the preset motion track is executed;
and if the adjusted parameter data is judged to be not in accordance with the expectation, the step of adjusting is carried out again until the adjusted parameter data is in accordance with the expectation.
7. The method of claim 4, wherein the sequence of reference image pairs comprises a first sequence of reference images acquired by the first camera, the sequence of image pairs comprises a first sequence of images acquired by the first camera, a trajectory deviation of the first camera is obtained by:
obtaining a first relative motion track of the first camera relative to the calibration board based on the first reference image sequence;
obtaining a second relative motion track of the first camera relative to the calibration board based on the first image sequence;
aligning the first relative motion track and the second relative motion track on a time axis;
and calculating the root mean square error of the first relative motion track and the second relative motion track at the same moment to serve as the track deviation of the first camera.
8. The method of claim 4, wherein the outlier bias between the first camera and the calibration plate is obtained by:
and determining the relative rotation parameter and the translation parameter of the first camera and the relative rotation parameter and the translation parameter of the calibration plate in the two-time movement process of acquiring the reference pair image sequence and the image pair sequence of the binocular camera as the external reference deviation between the first camera and the calibration plate.
9. An apparatus for calibrating an inertial measurement unit, comprising:
the system comprises an image acquisition module, a calibration board and a control module, wherein the image acquisition module is used for acquiring an image pair sequence acquired by using a binocular camera on a mechanical arm to the calibration board in the process that the mechanical arm moves from an initial position to a final position according to a preset movement track;
a camera parameter determination module to determine parameter data for the binocular camera based on the sequence of image pairs, wherein the parameter data includes: respective internal parameters of the binocular cameras, and external parameters of the binocular cameras;
the inertial data acquisition module is used for acquiring a first inertial data sequence acquired by a first to-be-detected inertial measurement unit in the process that the mechanical arm moves from the initial position to the termination position according to the preset motion track when the first to-be-detected inertial measurement unit is fixed on the mechanical arm; the inertial data acquisition module is further configured to acquire a second inertial data sequence of the second inertial measurement unit to be measured when the second inertial measurement unit is fixed to the mechanical arm and the mechanical arm moves from the initial position to the end position according to the preset motion trajectory;
the inertia measurement unit calibration module is used for calibrating the first to-be-measured inertia measurement unit based on the parameter data and the first inertia data sequence; the inertia measurement unit calibration module is further configured to calibrate the second inertia measurement unit to be measured based on the parameter data and the second inertia data sequence.
10. A system for calibrating an inertial measurement unit, comprising:
the mechanical arm system comprises a mechanical arm and a driving system for driving the mechanical arm to move;
the jig is arranged on the mechanical arm and used for placing a binocular camera and the to-be-measured inertia measurement unit;
and an apparatus for calibrating an inertial measurement unit as claimed in claim 9.
11. An electronic device, the electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method of any one of claims 1 to 8.
12. A computer-readable storage medium having stored thereon a computer program for executing the method of any of the preceding claims 1-8.
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