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Exploiting Ground Plane Constraints for Visual-Inertial Navigation
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-6855-5868
2012 (English)In: 2012 IEEE/ION Position Location and Navigation Symposium (PLANS), IEEE , 2012, 527-534 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, an ego-motion estimation approach is introduced that fuses visual and inertial information, using a monocular camera and an inertial measurement unit. The system maintains a set of feature points that are observed on the ground plane. Based on matched feature points between the current and previous images, a novel measurement model is introduced that imposes visual constraints on the inertial navigation system to perform 6 DoF motion estimation. Furthermore, feature points are used to impose epipolar constraints on the estimated motion between current and past images. Pose estimation is formulated implicitly in a state-space framework and is performed by a Sigma-Point Kalman filter. The presented experiments, conducted in an indoor scenario with real data, indicate the ability of the proposed method to perform accurate 6 DoF pose estimation.

Place, publisher, year, edition, pages
IEEE , 2012. 527-534 p.
Series
IEEE - ION Position Location and Navigation Symposium, ISSN 2153-358X
Keyword [en]
Ego-motion estimation, vision-aided INS, ground plane feature detection, epipolar geometry
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-93895DOI: 10.1109/PLANS.2012.6236923ISI: 000309273900067Scopus ID: 2-s2.0-84866233498ISBN: 978-146730386-6 (print)OAI: oai:DiVA.org:kth-93895DiVA: diva2:524620
Conference
2012 IEEE/ION Position, Location and Navigation Symposium, PLANS 2012; Myrtle Beach, SC; 23 April 2012 through 26 April 2012
Funder
ICT - The Next Generation
Note

QC 20120618

Available from: 2012-06-18 Created: 2012-05-02 Last updated: 2013-04-15Bibliographically approved

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Jansson, Magnus

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CiteExportLink to record
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