NDLI: Multi-sensor navigation algorithm using monocular camera, IMU and GPS for large scale augmented reality

Content Provider	IEEE Xplore Digital Library
Author	Oskiper, T. Samarasekera, S. Kumar, R.
Copyright Year	2012
Description	Author affiliation: SRI International, USA (Oskiper, T.; Samarasekera, S.; Kumar, R.)
Abstract	Camera tracking system for augmented reality applications that can operate both indoors and outdoors is described. The system uses a monocular camera, a MEMS-type inertial measurement unit (IMU) with 3-axis gyroscopes and accelerometers, and GPS unit to accurately and robustly track the camera motion in 6 degrees of freedom (with correct scale) in arbitrary indoor or outdoor scenes. IMU and camera fusion is performed in a tightly coupled manner by an error-state extended Kalman filter (EKF) such that each visually tracked feature contributes as an individual measurement as opposed to the more traditional approaches where camera pose estimates are first extracted by means of feature tracking and then used as measurement updates in a filter framework. Robustness in feature tracking and hence in visual measurement generation is achieved by IMU aided feature matching and a two-point relative pose estimation method, to remove outliers from the raw feature point matches. Landmark matching to contain long-term drift in orientation via on the fly user generated geo-tiepoint mechanism is described.
Starting Page	71
Ending Page	80
File Size	2767700
Page Count	10
File Format	PDF
ISBN	9781467346603
e-ISBN	9781467346627
e-ISBN	9781467346610
DOI	10.1109/ISMAR.2012.6402541
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Vectors Current measurement Measurement uncertainty Kalman filters Mathematical model Feature extraction EKF MEMS IMU monocular camera GPS inertial navigation sensor fusion
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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