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Closed-Form Solution for Absolute Scale Velocity Determination Combining Inertial Measurements and a Single Feature Correspondence

Kneip, Laurent; Martinelli, Agostino; Weiss, Stephan; Scaramuzza, D; Siegwart, Roland


This paper presents a closed-form solution for metric velocity estimation of a single camera using inertial measurements. It combines accelerometer and attitude measurements with feature observations in order to compute both the distance to the feature and the speed of the camera inside the camera frame. Notably, we show that this is possible by just using three consecutive camera positions and a single feature correspondence. Our approach represents a compact linear and multirate solution for...[Show more]

CollectionsANU Research Publications
Date published: 2011
Type: Conference paper
Source: IEEE International Conference on Robotics and Automation 2011 proceedings
DOI: 10.1109/ICRA.2011.5980127


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