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Robust Real-Time Tracking by Fusing Measurements from Inertial and Vision Sensors
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.
Xsens Technologies B.V, The Netherlands.
Xsens Technologies B.V, The Netherlands.
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2007 (English)Report (Other academic)
Abstract [en]

The problem of estimating and predicting position and orientation (pose) of a camera is approached by fusing measurements from inertial sensors (accelerometers and rate gyroscopes) and vision. The sensor fusion approach described in this contribution is based on non-linear filtering of 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 multi-rate extended Kalman filter is described, using a dynamic model with 22 states, where 12.5 Hz correspondences from vision and 100 Hz inertial measurements are processed. An example where an industrial robot is used to move the sensor unit is presented. The advantage with this configuration is that it provides ground truth for the pose, allowing for objective performance evaluation. The results show that we obtain an absolute accuracy of 2 cm in position and 1° in orientation.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2007. , 24 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2823
Keyword [en]
Computer vision, Inertial navigation, Pose estimation, Sensor fusion
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56144ISRN: LiTH-ISY-R-2823OAI: oai:DiVA.org:liu-56144DiVA: diva2:316954
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-08-12Bibliographically approved

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Hol, JeroenSchön, ThomasGustafsson, Fredrik

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CiteExportLink to record
Permanent link

Direct link
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