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Visual-inertial tracking using Optical Flow measurements
Linköping University, Department of Electrical Engineering, Automatic Control.
2010 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

 

Visual-inertial tracking is a well known technique to track a combination of a camera and an inertial measurement unit (IMU). An issue with the straight-forward approach is the need of known 3D points. To by-pass this, 2D information can be used without recovering depth to estimate the position and orientation (pose) of the camera. This Master's thesis investigates the feasibility of using Optical Flow (OF) measurements and indicates the benifits using this approach.

The 2D information is added using OF measurements. OF describes the visual flow of interest points in the image plane. Without the necessity to estimate depth of these points, the computational complexity is reduced. With the increased 2D information, the 3D information required for the pose estimate decreases.

The usage of 2D points for the pose estimation has been verified with experimental data gathered by a real camera/IMU-system. Several data sequences containing different trajectories are used to estimate the pose. It is shown that OF measurements can be used to improve visual-inertial tracking with reduced need of 3D-point registrations.

Place, publisher, year, edition, pages
2010. , 63 p.
Keyword [en]
Optical Flow, Computer vision, Sensor fusion
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:liu:diva-59970ISRN: LiTH-ISY-EX--10/4350--SEOAI: oai:DiVA.org:liu-59970DiVA: diva2:354414
Presentation
2010-08-25, Glashuset, B-huset ingång 25, Linköpings Universitet, Linköping, 16:00 (Swedish)
Uppsok
Technology
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Examiners
Available from: 2010-10-04 Created: 2010-10-01 Last updated: 2010-10-04Bibliographically approved

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • 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
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  • asciidoc
  • rtf