ESTIMATION OF INERTIAL SENSOR TO CAMERA ROTATION FROM SINGLE AXIS MOTION

Lorenzo Sorgi

Abstract

The aim of the present work is to define a calibration framework to estimate the relative orientation between a camera and an inertial orientation sensor AHRS (Attitude Heading Reference System). Many applications in computer vision and inmixed reality frequently work in cooperation with such class of inertial sensors, in order to increase the accuracy and the reliability of their results. In this context the heterogeneous measurements must be represented in a unique common reference frame (rf.) in order to carry out a joint processing. The basic framework is given by the estimation of the vertical direction, defined by a 3D vector expressed in the camera rf. as well as in the AHRS rf. In this paper a new approach has been adopted to retrieve such direction by using different geometrical entities which may be inferred from the analysis of single axis motion projective geometry. Their performances have been evaluated on simulated data as well as on real data.

References

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Paper Citation


in Harvard Style

Sorgi L. (2009). ESTIMATION OF INERTIAL SENSOR TO CAMERA ROTATION FROM SINGLE AXIS MOTION . In Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009) ISBN 978-989-8111-69-2, pages 13-19. DOI: 10.5220/0001754500130019


in Bibtex Style

@conference{visapp09,
author={Lorenzo Sorgi},
title={ESTIMATION OF INERTIAL SENSOR TO CAMERA ROTATION FROM SINGLE AXIS MOTION},
booktitle={Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009)},
year={2009},
pages={13-19},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001754500130019},
isbn={978-989-8111-69-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009)
TI - ESTIMATION OF INERTIAL SENSOR TO CAMERA ROTATION FROM SINGLE AXIS MOTION
SN - 978-989-8111-69-2
AU - Sorgi L.
PY - 2009
SP - 13
EP - 19
DO - 10.5220/0001754500130019