3-D structure from visual motion: modeling, representation and observability
Automatica (Journal of IFAC)
Recursive Estimation of Motion, Structure, and Focal Length
IEEE Transactions on Pattern Analysis and Machine Intelligence
Structure from Motion Causally Integrated Over Time
IEEE Transactions on Pattern Analysis and Machine Intelligence
Gauge Invariance in Projective 3D Reconstruction
MVIEW '99 Proceedings of the IEEE Workshop on Multi-View Modeling & Analysis of Visual Scenes
A Semi-direct Approach to Structure from Motion
ICIAP '01 Proceedings of the 11th International Conference on Image Analysis and Processing
Preemptive RANSAC for Live Structure and Motion Estimation
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Video Google: A Text Retrieval Approach to Object Matching in Videos
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
An Invitation to 3-D Vision: From Images to Geometric Models
An Invitation to 3-D Vision: From Images to Geometric Models
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Histograms of Oriented Gradients for Human Detection
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Features for Recognition: Viewpoint Invariance for Non-Planar Scenes
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
Real Time Localization and 3D Reconstruction
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Scalable Recognition with a Vocabulary Tree
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Beyond Bags of Features: Spatial Pyramid Matching for Recognizing Natural Scene Categories
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
International Journal of Computer Vision
Image Based Localization in Urban Environments
3DPVT '06 Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
Omnidirectional Vision Based Topological Navigation
International Journal of Computer Vision
Detecting Loop Closure with Scene Sequences
International Journal of Computer Vision
Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Multi-resolution real-time stereo on commodity graphics hardware
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping
IEEE Transactions on Robotics
International Journal of Robotics Research
Opportunities and challenges with autonomous micro aerial vehicles
International Journal of Robotics Research
Detecting changes in images of street scenes
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
High-precision, consistent EKF-based visual-inertial odometry
International Journal of Robotics Research
Camera-IMU-based localization: Observability analysis and consistency improvement
International Journal of Robotics Research
Closed-Form Solution of Visual-Inertial Structure from Motion
International Journal of Computer Vision
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We describe a model to estimate motion from monocular visual and inertial measurements. We analyze the model and characterize the conditions under which its state is observable, and its parameters are identifiable. These include the unknown gravity vector, and the unknown transformation between the camera coordinate frame and the inertial unit. We show that it is possible to estimate both state and parameters as part of an on-line procedure, but only provided that the motion sequence is â聙聵rich enoughâ聙聶, a condition that we characterize explicitly. We then describe an efficient implementation of a filter to estimate the state and parameters of this model, including gravity and camera-to-inertial calibration. It runs in real-time on an embedded platform. We report experiments of continuous operation, without failures, re-initialization, or re-calibration, on paths of length up to 30 km. We also describe an integrated approach to â聙聵loop-closureâ聙聶, that is the recognition of previously seen locations and the topological re-adjustment of the traveled path. It represents visual features relative to the global orientation reference provided by the gravity vector estimated by the filter, and relative to the scale provided by their known position within the map; these features are organized into â聙聵locationsâ聙聶 defined by visibility constraints, represented in a topological graph, where loop-closure can be performed without the need to re-compute past trajectories or perform bundle adjustment. The software infrastructure as well as the embedded platform is described in detail in a previous technical report.