Optimal motion estimation from visual and inertial measurements
Dennis Strelow,Sanjiv Singh +1 more
- pp 314-319
TLDR
An algorithm is presented that computes optimal vehicle motion estimates by considering all of the measurements from a camera, rate gyro, and accelerometer simultaneously, and shows that using image and inertial data together can produce highly accurate estimates even when the results produced by each modality alone are very poor.Abstract:
Cameras and inertial sensors are good candidates to be deployed together for autonomous vehicle motion estimation, since each can be used to resolve the ambiguities in the estimated motion that results from using the other modality alone. We present an algorithm that computes optimal vehicle motion estimates by considering all of the measurements from a camera, rate gyro, and accelerometer simultaneously. Such optimal estimates are useful in their own right, and as a gold standard for the comparison of online algorithms. By comparing the motions estimated using visual and inertial measurements, visual measurements only, and inertial measurements only against ground truth, we show that using image and inertial data together can produce highly accurate estimates even when the results produced by each modality alone are very poor Our test datasets include both conventional and omnidirectional image sequences, and an image sequence with a high percentage of missing data.read more
Citations
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Journal ArticleDOI
Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration
TL;DR: This paper describes an algorithm, based on the unscented Kalman filter, for self-calibration of the transform between a camera and an inertial measurement unit (IMU), which demonstrates accurate estimation of both the calibration parameters and the local scene structure.
Journal ArticleDOI
An Introduction to Inertial and Visual Sensing
TL;DR: In this article, the authors present a tutorial introduction to two important senses for biological and robotic systems -inertial and visual perception, and discuss the complementarity of these sensors, describe some fundamental approaches to fusing their outputs and survey the field.
Journal ArticleDOI
Motion estimation from image and inertial measurements
Dennis Strelow,Sanjiv Singh +1 more
TL;DR: This paper presents two algorithms for estimating sensor motion from image and inertial measurements, and presents a batch method, which produces estimates of the sensor motion, scene structure, and other unknowns using measurements from the entire observation sequence simultaneously.
Journal ArticleDOI
Flying Fast and Low Among Obstacles: Methodology and Experiments
TL;DR: A method of collision avoidance that can be used in three dimensions in much the same way as autonomous ground vehicles that navigate over unexplored terrain is developed and results are reported with an autonomous helicopter that operates at low elevations in uncharted environments.
DissertationDOI
Vision based navigation for micro helicopters
TL;DR: This dissertation studies the issues of vehicle state estimation and sensor self-calibration which arise while navigating a micro helicopter in large and initially unknown environments and shows that both approaches can be combined in a unifying and complementary framework to mitigate each others weaknesses.
References
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Proceedings Article
An iterative image registration technique with an application to stereo vision
Bruce D. Lucas,Takeo Kanade +1 more
TL;DR: In this paper, the spatial intensity gradient of the images is used to find a good match using a type of Newton-Raphson iteration, which can be generalized to handle rotation, scaling and shearing.
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Numerical Recipes in C: The Art of Scientific Computing
TL;DR: Numerical Recipes: The Art of Scientific Computing as discussed by the authors is a complete text and reference book on scientific computing with over 100 new routines (now well over 300 in all), plus upgraded versions of many of the original routines, with many new topics presented at the same accessible level.
Journal ArticleDOI
Numerical Recipes in C: The Art of Scientific Computing
Mary C. Seiler,Fritz A. Seiler +1 more
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