Name
Title | ||
|---|---|---|
A loosely-coupled approach for metric scale estimation in monocular vision-inertial systems |
Abstract | ||
|---|---|---|
In monocular vision systems, lack of knowledge about metric distances caused by the inherent scale ambiguity can be a strong limitation for some applications. We offer a method for fusing inertial measurements with monocular odometry or tracking to estimate metric distances in inertial-monocular systems and to increase the rate of pose estimates. As we performed the fusion in a loosely-coupled manner, each input block can be easily replaced with one's preference, which makes our method quite flexible. We experimented our method using the ORB-SLAM algorithm for the monocular tracking input and Euler forward integration to process the inertial measurements. We chose sets of data recorded on UAVs to design a suitable system for flying robots. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/MFI.2017.8170419 | 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) |
Keywords | DocType | Volume |
metric scale estimation,monocular vision-inertial systems,metric distances,inherent scale ambiguity,strong limitation,inertial measurements,monocular odometry,inertial-monocular systems,pose estimates,input block,monocular tracking input,suitable system,loosely-coupled approach,ORB-SLAM algorithm,Euler forward integration,UAV,flying robot | Conference | abs/1707.07518 |
ISBN | Citations | PageRank |
978-1-5090-6065-8 | 0 | 0.34 |
References | Authors | |
4 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ariane Spaenlehauer | 1 | 0 | 0.34 |
| Vincent Frémont | 2 | 123 | 14.18 |
| Y. Ahmet Sekercioglu | 3 | 289 | 22.73 |
| Isabelle Fantoni | 4 | 279 | 27.65 |