Paper Info
Title
Multi-sensor navigation algorithm using monocular camera, IMU and GPS for large scale augmented reality
Abstract
Camera tracking system for augmented reality applications that can operate both indoors and outdoors is described. The system uses a monocular camera, a MEMS-type inertial measurement unit (IMU) with 3-axis gyroscopes and accelerometers, and GPS unit to accurately and robustly track the camera motion in 6 degrees of freedom (with correct scale) in arbitrary indoor or outdoor scenes. IMU and camera fusion is performed in a tightly coupled manner by an error-state extended Kalman filter (EKF) such that each visually tracked feature contributes as an individual measurement as opposed to the more traditional approaches where camera pose estimates are first extracted by means of feature tracking and then used as measurement updates in a filter framework. Robustness in feature tracking and hence in visual measurement generation is achieved by IMU aided feature matching and a two-point relative pose estimation method, to remove outliers from the raw feature point matches. Landmark matching to contain long-term drift in orientation via on the fly user generated geo-tiepoint mechanism is described.
Year
DOI
Venue
2012
10.1109/ISMAR.2012.6402541
Mixed and Augmented Reality
Keywords
Field
DocType
monocular camera,individual measurement,augmented reality,feature matching,raw feature point,measurement updates,large scale,multi-sensor navigation algorithm,camera tracking system,feature tracking,mems-type inertial measurement unit,camera fusion,camera motion,measurement uncertainty,pose estimation,feature extraction,ekf,inertial navigation,accelerometers,gps,sensor fusion,mathematical model,vectors,global positioning system,gyroscopes,kalman filters
Inertial navigation system,Computer vision,Extended Kalman filter,Computer science,Camera auto-calibration,Augmented reality,Sensor fusion,Kalman filter,Pose,Artificial intelligence,Inertial measurement unit
Conference
ISSN
ISBN
Citations 
1554-7868
978-1-4673-4661-0
12
PageRank 
References 
Authors
0.72
10
3
Name
Order
Citations
PageRank
Taragay Oskiper1858.60
Supun Samarasekera279285.72
Rakesh Kumar31923157.44