Title :
Visuo-inertial fusion for homography-based filtering and estimation
Author :
Eudes, Alexandre ; Morin, P. ; Mahony, Robert ; Hamel, Tarek
Author_Institution :
ISIR-UPMC, Paris, France
Abstract :
The paper concerns visuo-inertial filtering and estimation based on homography and angular velocity measurements, i.e. data obtained from a mono-camera/IMU sensor. We extend recently developed nonlinear filters on the special linear group of homographies to the estimation of scene parameters and velocity of the sensor. A validation of the proposed solution and a comparative evaluation based on real data is presented.
Keywords :
angular velocity measurement; cameras; image fusion; nonlinear filters; parameter estimation; robot vision; IMU sensor; angular velocity measurements; homography-based filtering; mono-camera; nonlinear filters; scene parameters estimation; sensor velocity; visuo-inertial filtering; visuo-inertial fusion; Angular velocity; Cameras; Convergence; Observers; Transmission line matrix methods; Visualization;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
DOI :
10.1109/IROS.2013.6697106
