Relative Pose Estimation Algorithm with Gyroscope Sensor
Joint Authors
Wei, Shanshan
He, Zhiqiang
Xie, Wei
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-11-20
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
This paper proposes a novel vision and inertial fusion algorithm S2fM (Simplified Structure from Motion) for camera relative pose estimation.
Different from current existing algorithms, our algorithm estimates rotation parameter and translation parameter separately.
S2fM employs gyroscopes to estimate camera rotation parameter, which is later fused with the image data to estimate camera translation parameter.
Our contributions are in two aspects.
(1) Under the circumstance that no inertial sensor can estimate accurately enough translation parameter, we propose a translation estimation algorithm by fusing gyroscope sensor and image data.
(2) Our S2fM algorithm is efficient and suitable for smart devices.
Experimental results validate efficiency of the proposed S2fM algorithm.
American Psychological Association (APA)
Wei, Shanshan& He, Zhiqiang& Xie, Wei. 2016. Relative Pose Estimation Algorithm with Gyroscope Sensor. Journal of Sensors،Vol. 2016, no. 2016, pp.1-8.
https://search.emarefa.net/detail/BIM-1110668
Modern Language Association (MLA)
Wei, Shanshan…[et al.]. Relative Pose Estimation Algorithm with Gyroscope Sensor. Journal of Sensors No. 2016 (2016), pp.1-8.
https://search.emarefa.net/detail/BIM-1110668
American Medical Association (AMA)
Wei, Shanshan& He, Zhiqiang& Xie, Wei. Relative Pose Estimation Algorithm with Gyroscope Sensor. Journal of Sensors. 2016. Vol. 2016, no. 2016, pp.1-8.
https://search.emarefa.net/detail/BIM-1110668
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110668