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

Date

2011

Authors

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

Journal Title

Journal ISSN

Volume Title

Publisher

IEEE Robotics and Automation Society

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.

Description

Keywords

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

Citation

Source

IEEE International Conference on Robotics and Automation 2011 proceedings

Type

Conference paper

Book Title

Entity type

Access Statement

License Rights

DOI

10.1109/ICRA.2011.5980127

Restricted until

2037-12-31