Abstract This chapter describes an algorithm for determining the speed and the attitude of a sensor assembling constituted by a monocular camera and inertial sensors (three orthogonal accelerometers and three orthogonal gyroscopes). The system moves in a 3D unknown environment. The algorithm inputs are the visual and inertial measurements during a very short time interval. The outputs are the speed and attitude, the absolute scale and the bias affecting the inertial measurements. The determination of these outputs is obtained by a simple closed-form solution which analytically expresses the previous physical quantities in terms of the sensor measurements. This closed-form determination allows performing the overall estimation in a very short time interval and without the need of any initialization or prior knowledge. This is a key advantage since allows eliminating the drift on the absolute scale and on the orientation. The performance of the proposed algorithm is evaluated with real experiments.


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    Titel :

    Vision and IMU Data Fusion: Closed-Form Determination of the Absolute Scale, Speed, and Attitude


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2012-01-01


    Format / Umfang :

    20 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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