Least-Squares Fitting of Two 3-D Point Sets
IEEE Transactions on Pattern Analysis and Machine Intelligence
Matrix computations (3rd ed.)
Self-Calibration of Stationary Cameras
International Journal of Computer Vision
Hybrid Inertial and Vision Tracking for Augmented Reality Registration
VR '99 Proceedings of the IEEE Virtual Reality
Accurate Image Overlay on Video See-Through HMDs Using Vision and Accelerometers
VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Vision and Inertial Sensor Cooperation Using Gravity as a Vertical Reference
IEEE Transactions on Pattern Analysis and Machine Intelligence
Lucas-Kanade 20 Years On: A Unifying Framework
International Journal of Computer Vision
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
An Introduction to Inertial and Visual Sensing
International Journal of Robotics Research
Relative Pose Calibration Between Visual and Inertial Sensors
International Journal of Robotics Research
GPU-Accelerated KLT Tracking with Monte-Carlo-Based Feature Reselection
DICTA '08 Proceedings of the 2008 Digital Image Computing: Techniques and Applications
Qualitative Assessment of Video Stabilization and Mosaicking Systems
WACV '08 Proceedings of the 2008 IEEE Workshop on Applications of Computer Vision
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Inertial-aided KLT feature tracking for a moving camera
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Modeling and Calibration of Inertial and Vision Sensors
International Journal of Robotics Research
Feature tracking and matching in video using programmable graphics hardware
Machine Vision and Applications
IEEE Transactions on Robotics
Orientation-aware scene understanding for mobile cameras
Proceedings of the 2012 ACM Conference on Ubiquitous Computing
Tracking feature points in uncalibrated images with radial distortion
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part IV
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When a camera rotates rapidly or shakes severely, a conventional KLT (Kanade-Lucas-Tomasi) feature tracker becomes vulnerable to large inter-image appearance changes. Tracking fails in the KLT optimization step, mainly due to an inadequate initial condition equal to final image warping in the previous frame. In this paper, we present a gyro-aided feature tracking method that remains robust under fast camera-ego rotation conditions. The knowledge of the camera's inter-frame rotation, obtained from gyroscopes, provides an improved initial warping condition, which is more likely within the convergence region of the original KLT. Moreover, the use of an eight-degree-of-freedom affine photometric warping model enables the KLT to cope with camera rolling and illumination change in an outdoor setting. For automatic incorporation of sensor measurements, we also propose a novel camera/gyro auto-calibration method which can be applied in an in-situ or on-the-fly fashion. Only a set of feature tracks of natural landmarks is needed in order to simultaneously recover intrinsic and extrinsic parameters for both sensors. We provide a simulation evaluation for our auto-calibration method and demonstrate enhanced tracking performance for real scenes with aid from low-cost microelectromechanical system gyroscopes. To alleviate the heavy computational burden required for high-order warping, our publicly available GPU implementation is discussed for tracker parallelization.