Motion Estimation From Image and Inertial Measurements

Topics:
Electrical and Electronic
Tags:
Carnegie-Mellon University,
Emerging Technologies,
Measurement,
Robots,
Search And Rescue
Source:
Carnegie Mellon University

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Overview: This white paper deals with the robust motion estimation from image measurements which would be an enabling technology for Mars rover, micro air vehicle, and search and rescue robot navigation; modeling complex environments from video; and other applications. This paper work develops both batch and recursive algorithms for estimating camera motion, sparse scene structure, and other unknowns from image, gyro, and accelerometer measurements and as a result presents a proof of concept system that exploits this tracker to estimate six degree of freedom motion from long image sequences, and limits drift in the estimates by recognizing previously visited locations.

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Format: PDF | Size: 9,062KB | Date: Dec 2004 | Pages: 170

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