Closed-Form Solution for Absolute Scale Velocity Determination Combining Inertial Measurements and a Single Feature Correspondence
-
Altmetric Citations
Kneip, Laurent; Martinelli, Agostino; Weiss, Stephan; Scaramuzza, D; Siegwart, Roland
Description
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]
dc.contributor.author | Kneip, Laurent | |
---|---|---|
dc.contributor.author | Martinelli, Agostino | |
dc.contributor.author | Weiss, Stephan | |
dc.contributor.author | Scaramuzza, D | |
dc.contributor.author | Siegwart, Roland | |
dc.coverage.spatial | Shanghai China | |
dc.date.accessioned | 2015-12-07T22:49:40Z | |
dc.date.created | May 9-13 2011 | |
dc.identifier.isbn | 9781612843865 | |
dc.identifier.uri | http://hdl.handle.net/1885/26871 | |
dc.description.abstract | 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 estimating complementary information to regular essential matrix computation, namely the scale of the problem. The algorithm is thoroughly validated on simulated and real data and conditions for good quality of the results are identified. | |
dc.publisher | IEEE Robotics and Automation Society | |
dc.relation.ispartofseries | IEEE International Conference on Robotics and Automation (ICRA 2011) | |
dc.source | IEEE International Conference on Robotics and Automation 2011 proceedings | |
dc.subject | Keywords: Attitude measurement; Camera frames; Camera positions; Closed form solutions; Essential matrix; Feature correspondence; Inertial measurements; Multi rate; Scale velocity; Single cameras; Velocity estimation; Cameras; Matrix algebra; Robotics | |
dc.title | Closed-Form Solution for Absolute Scale Velocity Determination Combining Inertial Measurements and a Single Feature Correspondence | |
dc.type | Conference paper | |
local.description.notes | Imported from ARIES | |
local.description.refereed | Yes | |
dc.date.issued | 2011 | |
local.identifier.absfor | 090602 - Control Systems, Robotics and Automation | |
local.identifier.ariespublication | u4628727xPUB47 | |
local.type.status | Published Version | |
local.contributor.affiliation | Kneip, Laurent, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Martinelli, Agostino, INRIA | |
local.contributor.affiliation | Weiss, Stephan, Swiss Federal Institute of Technology Zurich (ETH Zurich) | |
local.contributor.affiliation | Scaramuzza, D, Swiss Federal Institute of Technology Zurich (ETH Zurich) | |
local.contributor.affiliation | Siegwart, Roland, Swiss Federal Institute of Technology Zurich (ETH Zurich) | |
local.description.embargo | 2037-12-31 | |
local.bibliographicCitation.startpage | 4546 | |
local.bibliographicCitation.lastpage | 4553 | |
local.identifier.doi | 10.1109/ICRA.2011.5980127 | |
local.identifier.absseo | 970109 - Expanding Knowledge in Engineering | |
dc.date.updated | 2016-02-24T11:15:03Z | |
local.identifier.scopusID | 2-s2.0-84866288928 | |
Collections | ANU Research Publications |
Download
File | Description | Size | Format | Image |
---|---|---|---|---|
01_Kneip_Closed-Form_Solution_for_2011.pdf | 1.27 MB | Adobe PDF | Request a copy |
Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.
Updated: 17 November 2022/ Responsible Officer: University Librarian/ Page Contact: Library Systems & Web Coordinator