This paper describes an approach to estimating the trajectory of a moving camera based on the measurements acquired with an inertial sensor and estimates obtained by applying a structure from motion algorithm to a small set of keyframes in the video sequence. The problem is formulated as an offline trajectory fitting task rather than an online integration problem. This approach avoids many of the issues usually associated with inertial estimation schemes. One of the main advantages of the proposed technique is that it can be applied in situations where approaches based on feature tracking would have significant difficulties. Results obtained by applying the procedure to extended sequences acquired with both conventional and omnidirectional cameras are presented.


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    Title :

    Camera trajectory estimation using inertial sensor measurements and structure from motion results


    Contributors:
    Jung, S.-H. (author) / Taylor, C.J. (author)


    Publication date :

    2001-01-01


    Size :

    724263 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Camera Trajectory Estimation Using Inertial Sensor Measurements and Structure from Motion Results

    Jung, S.-H. / Taylor, C. J. / IEEE | British Library Conference Proceedings | 2001




    Optimal Motion Estimation from Visual and Inertial Measurements

    Strelow, D. / Singh, S. / Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2002