22-09-2022 дата публикации
Номер: US20220299321A1
Принадлежит:
Methods, apparatus, and systems are provided for calibrating an optical flow (OF) sensor by using an inertial measurement unit (IMU) measurements in a planar robot system. 1. A method of calibrating an optical flow (OF) sensor by using an inertial measurement unit (IMU) in a robot system , the method comprising:performing measurements to collect data from an IMU; andmodifying one or more of optical flow scales, an alignment angle, and/or displacement between the IMU and the OF sensor using the data to calibrate the OF sensor.2. The method of claim 1 , wherein the step of calibrating optical flow scales claim 1 , an alignment angle claim 1 , and/or displacement between the IMU and the OF sensor further comprises:using fminsearch and/or a Least Squares (LS) process in one or more formulations, via at least a formulation of a rigid body equation in a predetermined domain and a predetermined frame.3. The method of claim 1 , wherein the IMU measures a linear acceleration and/or an angular velocity.4. The method of claim 1 , wherein the IMU obtains an angular position.5. The method of claim 2 , wherein the predetermined domain is an acceleration domain claim 2 , a velocity domain claim 2 , and/or a position domain.6. The method of claim 2 , wherein the predetermined frame is a body frame or a user frame.7. The method of claim 1 , wherein the calibration comprises:relating IMU and OF sensor measurements through the rigid body equation in a body frame and a velocity domain.8. The method of claim 1 , wherein the calibration comprises:receiving, from the IMU, a first signal including a linear acceleration;receiving, from the OF sensor, a second signal including a velocity of the robot system;receiving, from the IMU, a third signal including a vector generated based on an angular velocity and a known vector;after rotating to a user frame, applying a first set of direct-current (DC) block filters to the first signal, the second signal, and the third signal; andintegrating the ...
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