Fusion of inertial and vision data for accurate tracking

Jing Chen*, Wei Liu, Yongtian Wang, Junwei Guo

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

2 引用 (Scopus)

摘要

We present a sensor fusion framework for real-time tracking applications combining inertial sensors with a camera. In order to make clear how to exploit the information in the inertial sensor, two different fusion models gyroscopes only model and accelerometers model are presented under extended Kalman filter framework. Gyroscopes only model uses gyroscopes to support the vision-based tracking without considering acceleration measurements. Accelerometers model utilizes both measurements from the gyroscopes, accelerometers and vision data to estimate the camera pose, velocity, acceleration and sensor biases. Synthetic data and real image experimental sequences show dramatic improvements in tracking stability and robustness of estimated motion parameters for gyroscope model, when the accelerometer measurements exist drift.

源语言英语
主期刊名Fourth International Conference on Machine Vision, ICMV 2011
主期刊副标题Machine Vision, Image Processing, and Pattern Analysis
DOI
出版状态已出版 - 2012
活动4th International Conference on Machine Vision: Machine Vision, Image Processing, and Pattern Analysis, ICMV 2011 - Singapore, 新加坡
期限: 9 12月 201110 12月 2011

出版系列

姓名Proceedings of SPIE - The International Society for Optical Engineering
8349
ISSN(印刷版)0277-786X

会议

会议4th International Conference on Machine Vision: Machine Vision, Image Processing, and Pattern Analysis, ICMV 2011
国家/地区新加坡
Singapore
时期9/12/1110/12/11

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引用此

Chen, J., Liu, W., Wang, Y., & Guo, J. (2012). Fusion of inertial and vision data for accurate tracking. 在 Fourth International Conference on Machine Vision, ICMV 2011: Machine Vision, Image Processing, and Pattern Analysis 文章 83491D (Proceedings of SPIE - The International Society for Optical Engineering; 卷 8349). https://doi.org/10.1117/12.920343