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Sensor Fusion for Augmented Reality
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2008 (English)In: Proceedings of the 17th IFAC World Congress, 2008, 14100-14100 p.Conference paper, Published paper (Refereed)
Abstract [en]

The problem of estimating the position and orientation (pose) of a camera is approached by fusing measurements from inertial sensors (accelerometers and rate gyroscopes) and a camera. The sensor fusion approach described in this contribution is based on nonlinear filtering using the measurements from these complementary sensors. This way, accurate and robust pose estimates are available for the primary purpose of augmented reality applications, but with the secondary effect of reducing computation time and improving the performance in vision processing. A real-time implementation of a nonlinear filter is described, using a dynamic model for the 22 states, where 100 Hz inertial measurements and 12.5 Hz vision measurements are processed. An example where an industrial robot is used to move the sensor unit, possessing almost perfect precision and repeatability, is presented. The results show that position and orientation accuracy is sufficient for a number of augmented reality applications.

Place, publisher, year, edition, pages
2008. 14100-14100 p.
Keyword [en]
Sensor fusion, Nonlinear filtering, Tracking, Kalman filter, Augmented reality
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-44270DOI: 10.3182/20080706-5-KR-1001.02390Local ID: 76147ISBN: 978-3-902661-00-5 (print)OAI: oai:DiVA.org:liu-44270DiVA: diva2:265132
Conference
17th IFAC World Congress, Seoul, South Korea, July, 2008
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2013-09-15

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Gustafsson, FredrikSchön, ThomasHol, Jeroen

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CiteExportLink to record
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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf