Camera and inertial sensor fusion for the PnP problem: algorithms and experimental results
| Autor: | Paolo Pugliese, Emanuele Garone, Pietro Muraca, Luigi D'Alfonso |
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| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Inertial frame of reference Computer science Orientation (computer vision) 02 engineering and technology Sensor fusion Computer Science Applications Units of measurement 020901 industrial engineering & automation Hardware and Architecture Position (vector) Face (geometry) 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Computer Vision and Pattern Recognition Inclinometer Algorithm Pose Software |
| Zdroj: | Machine Vision and Applications. 32 |
| ISSN: | 1432-1769 0932-8092 |
| DOI: | 10.1007/s00138-021-01219-0 |
| Popis: | In this work, we face the problem of estimating the relative position and orientation of a camera and an object, when they are both equipped with inertial measurement units (IMUs), and the object exhibits a set of n landmark points with known coordinates (the so-called Pose estimation or PnP Problem). We present two algorithms that, fusing the information provided by the camera and the IMUs, solve the PnP problem with good accuracy. These algorithms only use the measurements given by IMUs’ inclinometers, as the magnetometers usually give inaccurate estimates of the Earth magnetic vector. The effectiveness of the proposed methods is assessed by numerical simulations and experimental tests. The results of the tests are compared with the most recent methods proposed in the literature. |
| Databáze: | OpenAIRE |
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