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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Nyqvist, H. Gustafsson, F. |
| Copyright Year | 2013 |
| Description | Author affiliation: Dept. of Electr. Eng., Linkoping Univ., Linkoping, Sweden (Nyqvist, H.; Gustafsson, F.) |
| Abstract | We consider an indoor tracking system consisting of an inertial measurement unit (IMU) and a camera that detects markers in the environment. There are many camera based tracking systems described in literature and available commercially, and a few of them also has support from IMU. These are based on the best-effort principle, where the performance varies depending on the situation. In contrast to this, we start with a specification of the system performance, and the design is based on an information theoretic approach, where specific user scenarios are defined. Precise models for the camera and IMU are derived for a fusion filter, and the theoretical Cramér-Rao lower bound and the Kalman filter performance are evaluated. In this study, we focus on examining the camera quality versus the marker density needed to get at least a one mm and one degree accuracy in tracking performance. |
| Starting Page | 2065 |
| Ending Page | 2072 |
| File Size | 13089051 |
| Page Count | 8 |
| File Format | |
| ISBN | 9786058631113 |
| e-ISBN | 9781479902842 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-07-09 |
| Publisher Place | Turkey |
| Access Restriction | Subscribed |
| Rights Holder | ISIF ( Intl Society of Information Fusi |
| Subject Keyword | Cameras Lenses Earth Accuracy Optical sensors Noise Optical imaging |
| Content Type | Text |
| Resource Type | Article |
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