NDLI: Orientation estimation in modern wearables with visual feature tracking

Content Provider	Springer Nature Link
Author	Kundra, László Ekler, Péter Charaf, Hassan
Copyright Year	2015
Abstract	In this paper we propose and examine a robust method for orientation estimation of wearables (like Google Glass) through bias compensation of gyroscope. Through integration of raw angular rates, the resulting orientation estimate will drift, due to the non-zero bias of the measured gyroscope was also accumulated. A simple error model was constructed for the measurement capabilities of the device, in terms of inertial sensing of rotation. Using the benefits of feature point displacements (as optical flow) from the camera of the device, a sensor fusion algorithm was developed to lower, and compensate the bias. The introduced orientation estimator and bias removal method is based on adaptive reliability filter for the optical flow feature points. To fuse the remaining feature point displacements into one single value, various aggregation methods have been tested, and a maximum a-posteriori estimator was applied on the dataset. To further lower the bias from the gyroscope, the output of the system was used as a feedback to calculate a bias estimate. To measure the performance and investigate the benefits of the asynchronous work-flow, the optical flow was performed on various devices in real time. To validate the results of the simulations, real world measurements were performed with industrial robots. Our reliable, adaptive filter matched our expectations, could compensate the bias well, and the integrated output of the system had no significant drift.
Starting Page	313
Ending Page	322
Page Count	10
File Format	PDF
ISSN	17837677
Journal	Journal on Multimodal User Interfaces
Volume Number	9
Issue Number	4
e-ISSN	17838738
Language	English
Publisher	Springer Berlin Heidelberg
Publisher Date	2015-06-19
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Orientation estimation Gyroscope Optical flow Wearable Sensor fusion Modality-oriented CogInfoCom Augmented sensing User Interfaces and Human Computer Interaction Signal, Image and Speech Processing Image Processing and Computer Vision
Content Type	Text
Resource Type	Article
Subject	Signal Processing Human-Computer Interaction

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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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