Relative Pose Estimation Algorithm with Gyroscope Sensor release_bhybwjzubzd3ppk5orzet3grsa

by 魏闪闪, Zhiqiang He, Wei Xie

Published in Journal of Sensors by Hindawi Limited.

2016   Volume 2016, p1-8

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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