Pose estimation using line-based dynamic vision and inertial sensors
نویسندگان
چکیده
In this paper, an observer problem from a computer vision application is studied. Rigid body pose estimation using inertial sensors and a monocular camera is considered and it is shown how rotation estimation can be decoupled from position estimation. Orientation estimation is formulated as an observer problem with implicit output where the states evolve on (3). A careful observability study reveals interesting group theoretic structures tied to the underlying system structure. A locally convergent observer where the states evolve on (3) is proposed and numerical estimates of the domain of attraction is given. Further, it is shown that, given convergent orientation estimates, position estimation can be formulated as a linear implicit output problem. From an applications perspective, it is outlined how delayed low bandwidth visual observations and high bandwidth rate gyro measurements can provide high bandwidth estimates. This is consistent with real-time constraints due to the complementary characteristics of the sensors which are fused in a multirate way.
منابع مشابه
Extended Kalman Filter-Based Methods for Pose Estimation Using Visual, Inertial and Magnetic Sensors: Comparative Analysis and Performance Evaluation
In this paper measurements from a monocular vision system are fused with inertial/magnetic measurements from an Inertial Measurement Unit (IMU) rigidly connected to the camera. Two Extended Kalman filters (EKFs) were developed to estimate the pose of the IMU/camera sensor moving relative to a rigid scene (ego-motion), based on a set of fiducials. The two filters were identical as for the state ...
متن کاملImproving Stability of Vision-based Camera Tracking by Smartphone Sensors
3D tracking is a trending issue in the field of augmented reality, which brings several challenges in a variety of situations, such as estimating the camera poses in dim conditions, obstructed scenes. It is difficult to stabilize the pose estimation results, especially when the result is dependent on only camera images under occlusions. However by using inertial sensors in smartphones, we can o...
متن کاملEstimation of state, shape, and inertial parameters of space objects from sequences of range images
This paper presents an architecture for the estimation of dynamic state, geometric shape, and inertial parameters of objects in orbit, using on-orbit cooperative 3-D vision sensors. This has application in many current and projected space missions, such as satellite capture and servicing, debris capture and mitigation, and large space structure assembly and maintenance. The method presented her...
متن کاملAdaptive Monocular Visual–Inertial SLAM for Real-Time Augmented Reality Applications in Mobile Devices
Simultaneous localization and mapping (SLAM) is emerging as a prominent issue in computer vision and next-generation core technology for robots, autonomous navigation and augmented reality. In augmented reality applications, fast camera pose estimation and true scale are important. In this paper, we present an adaptive monocular visual-inertial SLAM method for real-time augmented reality applic...
متن کاملFoot Pose Estimation Using an Inertial Sensor Unit and Two Distance Sensors
There are many inertial sensor-based foot pose estimation algorithms. In this paper, we present a methodology to improve the accuracy of foot pose estimation using two low-cost distance sensors (VL6180) in addition to an inertial sensor unit. The distance sensor is a time-of-flight range finder and can measure distance up to 20 cm. A Kalman filter with 21 states is proposed to estimate both the...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- IEEE Trans. Automat. Contr.
دوره 48 شماره
صفحات -
تاریخ انتشار 2003