Using optical flow for filling the gaps in visual-inertial tracking
2010 (English)Conference paper (Refereed)
Egomotion tracking is since the last decades an often addressed problem and hybrid approaches evidentially have potential to provide accurate, efficient and robust results. Simultaneous localisation and mapping (SLAM) - in contrast to a model-based approach - is used to enable tracking in unknown environments. However, it also suffers from high computational complexity. Moreover, in many applications, the map itself is not needed and the target environment is partiall known, e.g. in a few 3D anchor points. In this paper, rather than using SLAM, optical flow measurements are introduced into a model-based system. With these measurements, a modified visual-inertial tracking method is derived, which in Monte Carlo simulations reduces the need for 3D points and thus allows tracking during extended gaps of 3D point registrations.
Place, publisher, year, edition, pages
European Association for Signal, Speech, and Image Processin , 2010.
, European Signal Processing Conference, ISSN 2219-5491
Signal Processing Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-90520ISI: 000349999100373OAI: oai:DiVA.org:liu-90520DiVA: diva2:613686
European Signal Processing Conference (EUSIPCO 2010), August 23-27, 2010, Aalborg, Denmark