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.
Camera trajectory estimation using inertial sensor measurements and structure from motion results
2001-01-01
724263 byte
Conference paper
Electronic Resource
English
Camera Trajectory Estimation Using Inertial Sensor Measurements and Structure from Motion Results
British Library Conference Proceedings | 2001
|Optimal Motion Estimation from Visual and Inertial Measurements
British Library Conference Proceedings | 2002
|