Vision-inertia Virtual Glasses Relative Attitude Estimate within a Rotation Free Cabin

Keqiang Wu, Hai Zhang, Youze Mao

2018

Abstract

This paper presents a visual and inertial measurements fusion scheme to estimate the relative attitude when the cabin and the virtual glasses in it are both free to move. A Euler angle filter is designed when the cabin rotation rate can be provided with high frequency. Another orientation error filter is developed when only the cabin attitude can be obtained. Both of these algorithms are based on low cost MEMS inertial measurement unit, experiment has proved that the relative attitude can be fast and accurately estimated. The main advantages are the measurement noise can be well suppressed and the relative attitude estimation can be continuous even though the glasses are invisible to the optical tracking system.

Paper Citation

in Harvard Style

Wu K., Zhang H. and Mao Y. (2018). Vision-inertia Virtual Glasses Relative Attitude Estimate within a Rotation Free Cabin.In 3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT, ISBN 978-989-758-312-4, pages 536-540. DOI: 10.5220/0006973905360540

in Bibtex Style

@conference{icectt18,
author={Keqiang Wu and Hai Zhang and Youze Mao},
title={Vision-inertia Virtual Glasses Relative Attitude Estimate within a Rotation Free Cabin},
booktitle={3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT,},
year={2018},
pages={536-540},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006973905360540},
isbn={978-989-758-312-4},
}

in EndNote Style

TY - CONF

JO - 3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT,
TI - Vision-inertia Virtual Glasses Relative Attitude Estimate within a Rotation Free Cabin
SN - 978-989-758-312-4
AU - Wu K.
AU - Zhang H.
AU - Mao Y.
PY - 2018
SP - 536
EP - 540
DO - 10.5220/0006973905360540