ATTITUDE RELATIONSHIP CALCULATION METHOD FOR INTELLIGENT DEVICE, AND INTELLIGENT DEVICE

摘要

An attitude relationship calculation method for an intelligent device, and the intelligent device. The method may comprise: acquiring measurement attitude information of a coordinate system of a calibration device in a world coordinate system when an image pickup device collects an image of the calibration device (801); calculating a first attitude relationship between the world coordinate system and a coordinate system of a sensor when the image pickup device collects the image of the calibration device, and calculating a second attitude relationship between the coordinate system of the image pickup device and the coordinate system of the calibration device when the image pickup device collects the image of the calibration device (802); acquiring an initial attitude relationship between the coordinate system of the image pickup device and the coordinate system of the sensor, and calculating, according to the initial attitude relationship, the first attitude relationship and the second attitude relationship, an estimated attitude information of the coordinate system of the calibration device in the world coordinate system when the image pickup device collects the image of the calibration device (803); and calculating an attitude relationship between the coordinate system of the image pickup device and the coordinate system of the sensor according to the estimated attitude information and the measurement attitude information (804). The attitude relationship between the coordinate system of the sensor and the coordinate system of the image pickup device can be calibrated.