CN-120950131-B - Terminal initialization method and device, electronic equipment and storage medium

Abstract

The disclosure provides a method and device for initializing a terminal, electronic equipment and a storage medium. The initialization method of the terminal comprises the steps of obtaining initialization parameters, inertial constraints and visual constraints of the terminal, constructing an information matrix according to the initialization parameters, the inertial constraints and the visual constraints, conducting Shuern elimination on the information matrix, eliminating characteristic points from the information matrix to obtain an information matrix after elimination, conducting Georr decomposition on the information matrix after elimination to obtain an upper triangular matrix and a lower triangular matrix, conducting inversion on image frame state quantities corresponding to the latest preset moment in the upper triangular matrix to obtain square roots of covariance, further determining the covariance, and determining the initialization state of the terminal according to the covariance and the initialization parameters. The method can quickly solve covariance and reduce fluctuation amplitude of state quantity.

Inventors

• LU TAO
• YE CHANGCHUN

Assignees

• 青岛小鸟看看科技有限公司

Dates

Publication Date

20260512

Application Date

20250731

Claims (10)

1. 1. A method for initializing a terminal, comprising: The method comprises the steps of acquiring initialization parameters, inertial constraints and visual constraints of a terminal, wherein the initialization parameters comprise positions, postures, speeds, inertial bias and positions of a plurality of characteristic points preset in the environment in an initial period of the terminal in the initial period of the time; constructing an information matrix according to the initialization parameters, the inertial constraints and the visual constraints; Performing Shull element compensation on the information matrix, and eliminating the characteristic points from the information matrix to obtain an information matrix after element compensation; performing George decomposition on the information matrix after the element elimination to obtain an upper triangular matrix and a lower triangular matrix; Inverting the state quantity of the image frame corresponding to the nearest preset moment in the upper triangular matrix to obtain the square root of covariance, and further determining the covariance; and determining the initialization state of the terminal according to the covariance and the initialization parameters.
2. 2. The method of claim 1, wherein performing a schulb-patch on the information matrix, and removing the feature points from the information matrix to obtain a patch-subtracted information matrix comprises: The information matrix after the element elimination is obtained by adopting the following formula (1) ; The information matrix comprises a constraint block H xx representing the state quantity of the image frame, a constraint block H xp representing the image frame to the characteristic point, a constraint block H px representing the characteristic point to the image frame and a constraint block H pp representing the characteristic point.
3. 3. The method of claim 1, wherein after performing a georgette decomposition on the information matrix after the elimination to obtain an upper triangular matrix and a lower triangular matrix, before determining the initialization state of the terminal according to the covariance and the initialization parameter, the method further comprises: establishing an equation shown in the following formula (2); wherein L T is the upper triangular matrix, L is the lower triangular matrix, Is an increment of the state quantity of the image frame, Is an error vector after the Shu' er is supplemented and eliminated; calculating an increment of the image frame state quantity using characteristics of the upper triangular matrix and the lower triangular matrix; Correcting the initialization parameters according to the increment of the image frame state quantity.
4. 4. The method of claim 1, wherein the step of determining the position of the substrate comprises, The lower triangular matrix is a transpose of the upper triangular matrix.
5. 5. The method of claim 1, wherein the step of determining the position of the substrate comprises, The inertial bias includes an accelerometer bias and an angular velocity bias.
6. 6. The method of claim 5, wherein the step of determining the position of the probe is performed, The image frame state quantity at any preset time comprises the position, the gesture, the speed, the accelerometer bias and the angular velocity meter bias of the terminal at the preset time; The dimension of the image frame state quantity at any preset time is 15 multiplied by 15; And inverting the state quantity of the image frame corresponding to the nearest preset moment in the upper triangular matrix to obtain the square root of the covariance, wherein the inversion comprises the step of inverting the 15 multiplied by 15 part of the right lower corner of the upper triangular matrix.
7. 7. The method of claim 1, wherein the step of determining the position of the substrate comprises, The terminal is virtual reality equipment, augmented reality equipment or mixed reality equipment.
8. 8. An initializing device of a terminal, comprising: the system comprises an acquisition unit, a visual constraint unit and a control unit, wherein the acquisition unit is used for acquiring initialization parameters, inertial constraint and visual constraint of a terminal, wherein the initialization parameters comprise positions, postures, speeds, inertial bias and positions of a plurality of characteristic points preset in the environment in an initial period of time of the terminal; the control unit is used for constructing an information matrix according to the initialization parameters, the inertial constraints and the visual constraints; The control unit is used for carrying out Shull element compensation on the information matrix, and eliminating the characteristic points from the information matrix to obtain an information matrix after element compensation; The control unit is used for performing George decomposition on the information matrix after the element elimination to obtain an upper triangular matrix and a lower triangular matrix; the control unit is used for inverting the state quantity of the image frame corresponding to the latest preset moment in the upper triangular matrix to obtain the square root of the covariance, and further determining the covariance; And the control unit is used for determining the initialization state of the terminal according to the covariance and the initialization parameter.
9. 9. An electronic device, comprising: At least one memory and at least one processor; wherein the at least one memory is configured to store program code, and the at least one processor is configured to invoke the program code stored by the at least one memory to perform the method of any of claims 1 to 7.
10. 10. A computer readable storage medium for storing program code which, when executed by a processor, causes the processor to perform the method of any one of claims 1 to 7.

Description

Terminal initialization method and device, electronic equipment and storage medium Technical Field The disclosure relates to the field of computer technology, and in particular, to a method and device for initializing a terminal, an electronic device and a storage medium. Background The visual inertial positioning system is widely applied to the fields of unmanned aerial vehicles, augmented reality and unmanned aerial vehicles. For greater practicality and robustness of visual inertial positioning systems, online calibration is often introduced into the state estimation, which allows the system to estimate a variety of states including camera and inertial measurement unit internal and external parameters. According to the state estimation method, the method can be divided into an optimization-based system framework and a filtering-based system framework, and covariance of system state quantity is required to be maintained in the filtering-based system framework, so that prior information of past moments is carried in solving, and the state quantity change is smoother. For initial values of covariance, an empirical value is usually given, followed by normal execution of the positioning function. However, when the initial covariance value is an empirical value, the empirical value is inconsistent with the equipment or environment, and instability of the visual inertial positioning system is caused after the initial value is initialized, that is, the mean value and the covariance of the system state quantity are both severely vibrated, which is unfavorable for the stability and the accuracy of the system. Disclosure of Invention The disclosure provides a method and device for initializing a terminal, electronic equipment and a storage medium. The present disclosure adopts the following technical solutions. In some embodiments, the present disclosure provides a method for initializing a terminal, including: The method comprises the steps of acquiring initialization parameters, inertial constraints and visual constraints of a terminal, wherein the initialization parameters comprise positions, postures, speeds, inertial bias and positions of a plurality of characteristic points preset in the environment in an initial period of the terminal in the initial period of the time; constructing an information matrix according to the initialization parameters, the inertial constraints and the visual constraints; Performing Shull element compensation on the information matrix, and eliminating the characteristic points from the information matrix to obtain an information matrix after element compensation; performing George decomposition on the information matrix after the element elimination to obtain an upper triangular matrix and a lower triangular matrix; Inverting the state quantity of the image frame corresponding to the nearest preset moment in the upper triangular matrix to obtain the square root of covariance, and further determining the covariance; and determining the initialization state of the terminal according to the covariance and the initialization parameters. In some embodiments, the present disclosure provides an initializing device of a terminal, including: the system comprises an acquisition unit, a visual constraint unit and a control unit, wherein the acquisition unit is used for acquiring initialization parameters, inertial constraint and visual constraint of a terminal, wherein the initialization parameters comprise positions, postures, speeds, inertial bias and positions of a plurality of characteristic points preset in the environment in an initial period of time of the terminal; The control unit is used for constructing an information matrix according to the initialization parameters, the inertial constraints and the visual constraints; The control unit is used for carrying out Shull element compensation on the information matrix, and eliminating the characteristic points from the information matrix to obtain an information matrix after element compensation; The control unit is used for performing George decomposition on the information matrix after the element elimination to obtain an upper triangular matrix and a lower triangular matrix; the control unit is used for inverting the state quantity of the image frame corresponding to the latest preset moment in the upper triangular matrix to obtain the square root of the covariance, and further determining the covariance; and the control unit is used for determining the initialization state of the terminal according to the covariance and the initialization parameter. . In some embodiments, the present disclosure provides an electronic device comprising at least one memory and at least one processor; The memory is used for storing program codes, and the processor is used for calling the program codes stored in the memory to execute the method. In some embodiments, the present disclosure provides a computer readable storage medium for storing program c