title: ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¸ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ðµ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð¸Ð½ÐµÑÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð¾Ð¹ Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ð¸ Ð´Ð»Ñ Ð¿ÑÐ¸Ð»Ð¾Ð¶ÐµÐ½Ð¸Ð¹ Ð´Ð¾Ð¿Ð¾Ð»Ð½ÐµÐ½Ð½Ð¾Ð¹ ÑÐµÐ°Ð»ÑÐ½Ð¾ÑÑÐ¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Investigation and application of visual inertial odometry methods for augmented reality applications
Creators: name: ÐÐ°Ð½Ð´Ð°Ð¿Ð°ÑÐ¸, Ð¡ÑÐ¸ÑÐ°Ð¼Ð°
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2018
Subjects: ÐÐ°ÑÑÐ¸ÐºÐ¸ Ð¿ÐµÑÐµÐ¼ÐµÑÐµÐ½Ð¸Ñ
Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½Ð°Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ñ
Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°Ð½Ð¸Ðµ
Ð¾Ð±ÐµÑÐ¿ÐµÑÐµÐ½Ð½Ð°Ñ ÑÐµÐ°Ð»ÑÐ½Ð¾ÑÑÑ

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description: The paper focuses on pure inertial navigation using an onboard inertial measurement unit. With successful results, this approach can be applied for augmented reality applications in medical interventions, to name one. Till date, this particular approach has not been addressed because of the inaccuracy in the pose estimation from an inertial sensor. To complement this, we develop a method to filter out the noises, random walk and initial offset in an Inertial sensor and use it for inertial odometry. Although, in the process, a visual sensor is used for calibration and to achieve the initial pose of the system, stand-alone inertial measurements are used there-after. To perform this, combinations of different library functions are used to project some defined points and track them on an artificial organ. We use real time rotation and translation matrix from the inertial measurement unit sampling at 200Hz. and transform it to a projector plane to rectify motion in it.