NDLI: Velocity estimator via fusing inertial measurements and multiple feature correspondences from a single camera

Content Provider	IEEE Xplore Digital Library
Author	Guyue Zhou Fangchang Ma Zexiang Li Tao Wang
Copyright Year	2013
Description	Author affiliation: Hong Kong Dajiang Innovation Technol. Co., Ltd., Hong Kong, China (Tao Wang) \|\| Dept. of Electron. & Comput. Eng., Hong Kong Univ. of Sci. & Technol., Hong Kong, China (Guyue Zhou; Fangchang Ma; Zexiang Li)
Abstract	In this paper, we present a novel real-time velocity estimation algorithm. A sensor assembly consisting of a monocular camera and an inertial measurement unit with three-axis accelerotmeter and gyroscope is considered. To improve the robustness of the velocity estimator with respective to image noise, we apply a coarse-to-fine structure based on multiple feature correspondences over three consecutive frames. The presented algorithm starts with an initial guess by solving a set of linear equations from modified epipolar constraints, which has increased accuracy and computational efficiency in comparison to previous work. Then, a highly accurate velocity estimation is achieved by non-linear minimization of the reprojection errors using the Levenberg-Marquardt algorithm. We implement our approach and present the results both in simulation and on real data.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	1077
Ending Page	1082
File Size	4808516
Page Count	6
File Format	PDF
ISBN	9781479927449
DOI	10.1109/ROBIO.2013.6739607
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Estimation Vectors Accuracy Silicon Noise Robots
Content Type	Text
Resource Type	Article

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