International Journal of Computer Vision - 1998 Marr Prize
Fast and Globally Convergent Pose Estimation from Video Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Hybrid Tracking for Outdoor Augmented Reality Applications
IEEE Computer Graphics and Applications
Presence: Teleoperators and Virtual Environments
VIS-Tracker: A Wearable Vision-Inertial Self-Tracker
VR '03 Proceedings of the IEEE Virtual Reality 2003
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
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
Vision and Inertial Sensor Cooperation Using Gravity as a Vertical Reference
IEEE Transactions on Pattern Analysis and Machine Intelligence
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
An Inertial and Visual Sensing System for a Small Autonomous Helicopter
Journal of Robotic Systems
Fusion of Vision and Inertial Data for Motion and Structure Estimation
Journal of Robotic Systems
Robust Pose Estimation from a Planar Target
IEEE Transactions on Pattern Analysis and Machine Intelligence
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fast Ego-motion Estimation with Multi-rate Fusion of Inertial and Vision
International Journal of Robotics Research
An Introduction to Inertial and Visual Sensing
International Journal of Robotics Research
Real-time camera pose in a room
ICVS'03 Proceedings of the 3rd international conference on Computer vision systems
The Vision System of the ACROBOTER Project
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Towards scene understanding using a co-operative of robots
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology
Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration
International Journal of Robotics Research
Closed-Form Solution of Visual-Inertial Structure from Motion
International Journal of Computer Vision
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For mobile robotics, head gear in augmented reality (AR) applications or computer vision, it is essential to continuously estimate the egomotion and the structure of the environment. This paper presents the system developed in the SmartTracking project, which simultaneously integrates visual and inertial sensors in a combined estimation scheme. The sparse structure estimation is based on the detection of corner features in the environment. From a single known starting position, the system can move into an unknown environment. The vision and inertial data are fused, and the performance of both Unscented Kalman filter and Extended Kalman filter are compared for this task. The filters are designed to handle asynchronous input from visual and inertial sensors, which typically operate at different and possibly varying rates. Additionally, a bank of Extended Kalman filters, one per corner feature, is used to estimate the position and the quality of structure points and to include them into the structure estimation process. The system is demonstrated on a mobile robot executing known motions, such that the estimation of the egomotion in an unknown environment can be compared to ground truth.