NDLI: Visual-inertial structure from motion: Observability vs minimum number of sensors

Content Provider	IEEE Xplore Digital Library
Author	Martinelli, A.
Copyright Year	2014
Description	Author affiliation: INRIA Rhone Alpes, Montbonnot, France (Martinelli, A.)
Abstract	This paper analyzes the observability properties of the visual inertial structure from motion as the number of inertial sensors is reduced. Specifically, instead of considering the standard formulation where the inertial sensors are 3 orthogonal accelerometers and 3 orthogonal gyroscopes, the sensor system here considered only consists of a monocular camera and 1 or 2 accelerometers. This analysis has never been provided before. The main result achieved in this context is that the observability properties of visual inertial structure from motion do not change by removing all the 3 gyroscopes and 1 accelerometer. By removing a further accelerometer, if the camera is not extrinsically calibrated, the system loses part of its observability properties. On the other hand, if the camera is extrinsically calibrated, the system maintains the same observability properties as in the standard case. This contribution clearly shows that the information provided by a monocular camera, 3 accelerometers and 3 gyroscopes is redundant. Additionally, it provides a new perspective in the framework of neuroscience to the process of vestibular and visual integration for depth perception and self motion perception. Finally, to analyze these systems with a reduced number of inertial sensors, the paper introduces a new method to derive the observability properties of a non linear system when part of its input controls is unknown. This method is a further original paper contribution in control theory.
Starting Page	1020
Ending Page	1027
File Size	427670
Page Count	8
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6906979
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Observability Accelerometers Sensors Vectors Tin Linear systems
Content Type	Text
Resource Type	Article

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