Robust real-time tracking by fusing measurements from inertial and vision sensors

Journal of Real-Time Image Processing

Volumn 2, Issue 2-3, 2007, Pages 149-160

  Hol, Jeroen D ^a   Schön, Thomas B ^a   Luinge, Henk ^b   Slycke, Per J ^b   Gustafsson, Fredrik ^a  

^a LINKÖPING UNIVERSITY   (Sweden)

^b Xsens Technologies   (Netherlands)

Author keywords

Computer vision; Inertial navigation; Pose estimation; Sensor fusion

Indexed keywords

ACCELEROMETERS; CAMERAS; COMPUTER VISION; GYROSCOPES; PROBLEM SOLVING; REAL TIME SYSTEMS; ROBUST CONTROL; TRACKING (POSITION); VIRTUAL REALITY;

FUSING MEASUREMENTS; INERTIAL NAVIGATION; POSE ESTIMATION; SENSOR FUSION;

IMAGE SENSORS;

EID: 35648954613     PISSN: 18618200     EISSN: None     Source Type: Journal    
DOI: 10.1007/s11554-007-0040-2     Document Type: Article

References (42)

1. Armesto, L., Tornero, J., Vincze, M.: Fast ego-motion estimation with multi-rate fusion of inertial and vision. Int. J. Robot. Res. 26(6), 577-589 (2007). doi: 10.1177/0278364907079283
2. Aron, M., Simon, G., Berger, M.O.: Use of inertial sensors to support video tracking. Comput. Animat. Virtual. Worlds. 18(1), 57-68 (2007)
3. Bergman, N.: Recursive Bayesian estimation: Navigation and tracking applications. Dissertations no 579, Linköping Studies in Science and Technology, SE-581 83 Linköping, Sweden (1999)
4. Bucy, R.S., Senne, K.D.: Digital synthesis on nonlinear filters. Automatica 7, 287-298 (1971)
5. Chatfield, A.: Fundamentals of High Accuracy Inertial Navigation, vol. 174, 3rd edn. American Institute of Aeronautics and Astronautics, USA (1997)
6. Chroust, S.G., Vincze, M.: Fusion of vision and inertial data for motion and structure estimation. J. Robot. Syst. 21(2), 73-83 (2004)
7. Corke, P., Lobo, J., Dias, J.: An introduction to inertial and visual sensing. Int. J. Robot. Res. 26(6), 519-535 (2007). doi: 10.1177/ 0278364907079279
8. Davison, A.J.: Real-time simultaneous localisation and mapping with a single camera. In: Proceedings of 9th IEEE International Conference on Computer Vision, Nice, France, vol. 2, pp. 1403-1410 (2003)
9. Davison, A.J.: Active search for real-time vision. In: Proceedings of 10th IEEE International Conference on Computer Vision, Beijing, China, pp. 66-73 (2005)
10. Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: MonoSLAM: Real-time single camera SLAM. IEEE Trans. Pattern Anal. Mach. Intell. 29(6), 1052-1067 (2007). doi: 10.1109/TPAMI.2007.1049
11. Durrant-Whyte, H., Bailey, T.: Simultaneous localization and mapping (SLAM): Part I. IEEE Robot. Autom. Mag. 13(2), 99-110 (2006)
12. Fischler, M.A., Bolles, R.C.: Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Commun. ACM 24(6):381-395 (1981). doi: 10.1145/358669.358692
13. Gemeiner, P., Einramhof, P., Vincze, M.: Simultaneous motion and structure estimation by fusion of inertial and vision data. Int. J. Robot. Res. 26(6), 591-605 (2007). doi: 10.1177/0278364907080058
14. Gordon, N.J., Salmond, D.J., Smith, A.F.M.: Novel approach to nonlinear/non-gaussian bayesian state estimation. IEE Proc. Radar Signal Process. 140(2), 107-113 (1993)
15. Harris, C., Stephens, M.: A combined corner and edge detector. In: Proceedings of the 4th Alvey Vision Conference, Manchester, UK, pp. 147-151 (1988)
16. Hartley, R.I., Zisserman, A.: Multiple View Geometry in Computer Vision, 2nd edn. Cambridge University Press, Cambridge (2004)
17. Horn, B.K.P.: Closed-form solution of absolute orientation using unit quaternions. J. Opt. Soc. Am. A 4(4), 629-642 (1987)
18. Isard, M., Blake, A.: Condensation-conditional density propagation for visual tracking. Int. J. Comput. Vis. 29(1):5-28 (1998). doi: 10.1023/A:1008078328650
19. Jazwinski, A.H.: Stochastic processes and filtering theory. Mathematics in science and engineering, Academic, New York (1970)
20. Julier, S.J., Uhlmann, J.K.: Unscented filtering and nonlinear estimation, Proc. IEEE 92(3), 401-422 (2004). doi: 10.1109/JPROC.2003.823141
21. Kalman, R.E.: A new approach to linear filtering and prediction problems. Trans. ASME J Basic Eng. 82, 35-45 (1960)
22. Kitagawa, G.: Monte Carlo filter and smoother for non-Gaussian nonlinear state space models. J. Comput. Graph. Stat. 5(1), 1-25 (1996)
23. Klein, G.S.W., Drummond, T.W.: Tightly integrated sensor fusion for robust visual tracking. Image Vis. Comput. 22(10), 769-776 (2004)
24. Bartczak, B., Koeser, K., Woelk, F., Koch, R.: Extraction of 3D freeform surfaces as visual landmarks for real-time tracking. J. Real-Time Image Process. (this issue) doi: 10.1007/s11554-007-0042-0
25. Kuipers, J.B.: Quaternions and Rotation Sequences. Princeton University Press, Princeton (1999)
26. Lobo, J., Dias, J.: Inertial sensed ego-motion for 3D vision. J. Robot. Syst. 21(1), 3-12 (2004)
27. Lobo, J., Dias, J.: Relative pose calibration between visual and inertial sensors. Int. J. Robot. Res. 26(6), 561-575 (2007). doi: 10.1177/ 0278364907079276
28. Ma, Y., Soatto, S., Kosecka, J., Sastry, S.S.: An invitation to 3-D vision-from images to geometric models. Interdisciplinary Applied Mathematics, Springer, Berlin (2006)
29. Pieper, R.J.B.: Comparing estimation algorithms for camera position and orientation. Master's thesis, Department of Electrical Engineering, Linköping University, Sweden (2007)
30. Pinies, P., Lupton, T., Sukkarieh, S., Tardos, J.D.: Inertial aiding of inverse depth SLAM using a monocular camera. In: Proceedings of IEEE International Conference on Robotics and Automation, Roma, Italy, pp. 2797-2802 (2007). doi: 10.1109/ROBOT.2007.363895
31. Ribo, M., Brandner, M., Pinz, A.: A flexible software architecture for hybrid tracking, J. Robot. Syst. 21(2), 53-62 (2004)
32. Schmidt, S.F.: Application of state-space methods to navigation problems. Adv. Control Syst. 3, 293-340 (1966)
33. Schön, T.B.: Estimation of nonlinear dynamic systems-theory and applications. Dissertations no 998, Linköping Studies in Science and Technology, Department of Electrical Engineering, Linköping University, Sweden (2006)
34. Shuster, M.D.: A survey of attitude representations. J. Astronaut. Sci. 41(4):439-517 (1993)
35. Skoglund, J., Felsberg, M.: Covariance estimation for sad block matching. In: Proc. 15th Scandinavian Conference on Image Analysis (2007)
36. Smith, G.L., Schmidt, S.F., McGee, L.A.: Application of statistical filter theory to the optimal estimation of position and velocity on board a circumlunar vehicle. Tech. Rep. TR R-135, NASA (1962)
37. Stricker, D., Thomas, G.: The MATRIS project: real-time markerless camera tracking for AR and broadcast applications. J. Real-Time Image Processing. doi: 10.1007/s11554-007-0041-1
38. Strobl, K.H., Hirzinger, G.: Optimal hand-eye calibration. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp. 4647-4653 (2006). doi: 10.1109/IROS.2006.282250
39. Thrun S., Burgard W., Fox D. (2005) Probabilistic Robotics. Intelligent Robotics and Autonomous Agents. The MIT Press, Cambridge
40. Titterton, D.H., Weston, J.L.: Strapdown inertial navigation technology. IEE radar, sonar, navigation and avionics series. Peter Peregrinus, Stevenage (1997)
41. Williams, B., Smith, P., Reid, I.: Automatic relocalisation for a single-camera simultaneous localisation and mapping system. In: Proceedings of IEEE International Conference on Robotics and Automation, Roma, Italy, pp. 2784-2790 (2007). doi: 10.1109/ROBOT.2007.363893
42. Zhang, Z.: A flexible new technique for camera calibration. IEEE Trans Pattern Anal. Mach. Intell. 22(11), 1330-1334 (2000). doi: 10.1109/34.888718