Ground Plane Detection using Visual and Inertial Data Fusion - Electronics, Circuits and Systems, 1998 IEEE International Conference on

2 A Prototype of An Inertial System In mobile systems the position and attitude of active vision system's cameras can be hard t o determine. Inertial sensors coupled t o the active viston sys tem can provide valuable information, as happens with the An inertial system prototype was built using lowcost inertial sensors. These include a three-axial accelerometer, three gyroscopes and a dual-axis inclinometer see figure lb. vestabular sys tem in human and other animals. In this article, we pwsen t our integrated inertial and vision systems. The active vision sys tem has a set of stereo cameras capable of vergence, with a common baseline, pan and tilt, and a n implemented process of visual f i a t i o n . An anertaal sys tem prototype, based o n low-cost sensors, was built. The inertial sensor data i s used t o segment the ground plane in the images. For on-the-fly visualisation of the segmented images and the detected ground points a VRML viewer i s used.