liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
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
URN: urn:nbn:se:liu:diva-59970ISRN: LiTH-ISY-EX--10/4350--SEOAI: diva2:354414
2010-08-25, Glashuset, B-huset ingång 25, Linköpings Universitet, Linköping, 16:00 (Swedish)
Available from: 2010-10-04 Created: 2010-10-01 Last updated: 2010-10-04Bibliographically approved

Open Access in DiVA

fulltext(2805 kB)251 downloads
File information
File name FULLTEXT02.pdfFile size 2805 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Larsson, Olof
By organisation
Automatic Control
Signal Processing

Search outside of DiVA

GoogleGoogle Scholar
Total: 251 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 322 hits
ReferencesLink to record
Permanent link

Direct link