Pose estimation and calibration algorithms for vision and inertial sensors
By: Jeroen Hol
Series: Linko ping studies in science and technology. Thesis -- 1370; Linko ping studies in science and technology -- 1370.
Publisher: Department of Electrical Engineering, Linko ping University
Published: 2008
Place of publication: Linko ping
Language: eng
Number of pages: 94
ISBN-13: 9789173938624
Subjects: Bildbehandling; Reglerteori
Description: This thesis deals with estimating position and orientation in real-time, using measurements from vision and inertial sensors. A system has been developed to solve this problem in unprepared environments, assuming that a map or scene model is available. Compared to 'camera-only' systems, the combination of the complementary sensors yields an accurate and robust system which can handle periods with uninformative or no vision data and reduces the need for high frequency vision updates.
Notes: Licentiatavhandling Linko ping : Linko pings universitet, 2008.