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Camera and inertial sensor fusion for the PnP problem: algorithms and experimental results.
- Source :
-
Machine Vision & Applications . Jul2021, Vol. 32 Issue 4, p1-11. 11p. - Publication Year :
- 2021
-
Abstract
- In this work, we face the problem of estimating the relative position and orientation of a camera and an object, when they are both equipped with inertial measurement units (IMUs), and the object exhibits a set of n landmark points with known coordinates (the so-called Pose estimation or PnP Problem). We present two algorithms that, fusing the information provided by the camera and the IMUs, solve the PnP problem with good accuracy. These algorithms only use the measurements given by IMUs’ inclinometers, as the magnetometers usually give inaccurate estimates of the Earth magnetic vector. The effectiveness of the proposed methods is assessed by numerical simulations and experimental tests. The results of the tests are compared with the most recent methods proposed in the literature. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 09328092
- Volume :
- 32
- Issue :
- 4
- Database :
- Academic Search Index
- Journal :
- Machine Vision & Applications
- Publication Type :
- Academic Journal
- Accession number :
- 150758376
- Full Text :
- https://doi.org/10.1007/s00138-021-01219-0