NDLI: Advanced tracking through efficient image processing and visual-inertial sensor fusion

Content Provider	IEEE Xplore Digital Library
Author	Bleser, G. Stricker, D.
Copyright Year	2008
Description	Author affiliation: Tech. Univ. Darmstadt, Darmstadt (Bleser, G.; Stricker, D.)
Abstract	We present a new visual-inertial tracking device for augmented and virtual reality applications. The paper addresses two fundamental issues of such systems. The first one concerns the definition and modelling of the sensor fusion. Much work has been done in this area and several models for exploiting the data of the gyroscopes and linear accelerometers have been proposed. However, the respective advantages of each model and in particular the benefits of the integration of the accelerometer data in the filter are still unclear. The paper therefore provides an evaluation of different models with special investigation of the effects of using accelerometers on the tracking performance. The second contribution is about the development of an image processing approach that does not require special landmarks but uses natural features. Our solution relies on a 3D model of the scene that enables to predict the appearances of the features by rendering the model using the prediction data of the sensor fusion filter. The feature localisation is robust and accurate mainly because local lighting is also estimated. The final system is evaluated with help of ground-truth and real data. High stability and accuracy is demonstrated also for large environments.
Starting Page	137
Ending Page	144
File Size	7429475
Page Count	8
File Format	PDF
ISBN	9781424419715
DOI	10.1109/VR.2008.4480765
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-03-08
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image processing Sensor fusion Accelerometers Filters Predictive models Virtual reality Gyroscopes Layout Rendering (computer graphics) Robustness Verification augmented reality markerless camera tracking model-based tracking inertial sensors sensor fusion extended 1.4.8 [Image processing and computer vision]: Scene analysis-Motion, Photometry, Sensor fusion, Tracking I.2.10 [Artificial intelligence]: Vision and Scene Understanding 3D/stereo scene analysis, Intensity, color, photometry, and thresholding, Motion, Texture, Video analysis I.5.5 [Pattern recognition]: Applications¿Computer vision G. 3 [Probability and statistics]: Markov processes, Probabilistic algorithms, Robust regression, Stochastic processes I.2.9 [Artificial intelligence]: Robotics¿ Kinematics and dynamics, Sensors I.3.m [Computer graphics]: Miscellaneous¿Augmented Reality Algorithms Experimentation Performance Theory
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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