A Monocular Camera Gyroscope
Huttunen, Ville; Piche, Robert (2012)
Huttunen, Ville
Piche, Robert
2012
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tty-201310311409
https://urn.fi/URN:NBN:fi:tty-201310311409
Kuvaus
Peer reviewed
Tiivistelmä
We present a method for tracking the 3-axis orientation of a monocular camera using orthogonal vanishing points detected in individual frames of a sequence of images. Robust and real-time vanishing point detection is done using a standard line segment detection method and an adaptive RANSAC algorithm. Vanishing points and corresponding vanishing directions found in consecutive frames are associated with each other to produce a sequence of orientation quaternions, which is processed by an extended Kalman filter. Experiments with a consumer-level, handheld mobile device indicate that the accuracy of the proposed method is comparable with those of consumer-grade inertial motion sensors.
Kokoelmat
- TUNICRIS-julkaisut [16944]