Publication

Fusing visual and inertial sensing to recover robot egomotion

Journal Article (2003)

Journal

Journal of Field Robotics

Pages

23-32

Volume

21

Number

1

Doc link

http://dx.doi.org/10.1002/rob.10125

File

Download the digital copy of the doc pdf document

Abstract

A method for estimating mobile robot egomotion is presented, which relies on tracking contours in real-time images acquired with a calibrated monocular video system. After fitting an active contour to an object in the image, 3D motion is derived from the affine deformations suffered by the contour in an image sequence. More than one object can be tracked at the same time yielding some different pose estimations. Then, improvements in pose determination are achieved by fusing al l these different estimations. Inertial information is used to obtain better estimates, as it introduces in the tracking algorithm a measure of the real velocity. Inertial information is also used to eliminate some ambiguities arising from the use of a monocular image sequence. As the algorithms developed are intended to be used in real-time control systems, considerations on computation costs are taken into account.

Categories

computer vision.

Scientific reference

G. Alenyà, E. Martinez and C. Torras. Fusing visual and inertial sensing to recover robot egomotion. Journal of Field Robotics, 21(1): 23-32, 2003.