Relative Pose Estimation Algorithm with Gyroscope Sensor
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魏闪闪, Zhiqiang He, Wei Xie
Abstract
This paper proposes a novel vision and inertial fusion algorithm S<jats:sup>2</jats:sup>fM (Simplified Structure from Motion) for camera relative pose estimation. Different from current existing algorithms, our algorithm estimates rotation parameter and translation parameter separately. S<jats:sup>2</jats:sup>fM 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 S<jats:sup>2</jats:sup>fM algorithm is efficient and suitable for smart devices. Experimental results validate efficiency of the proposed S<jats:sup>2</jats:sup>fM algorithm.
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