|
URN:
|
http://URN.fi/URN:NBN:fi:tty-2011081814758
|
|
Title:
|
A Monocular Camera Gyroscope |
|
Author:
|
Huttunen, Ville; Piche, Robert |
|
Publication type:
|
Laitosraportti - TUT Publication series |
|
Issue date:
|
2011-08-04 |
|
University:
|
Tampereen teknillinen yliopisto – Tampere University of Tecnology |
|
Faculty:
|
Luonnontieteiden ja ympäristötekniikan tiedekunta – Faculty of Science and Environmental Engineering |
|
Department:
|
Matematiikan laitos – Department of Mathematics |
|
Abstract:
|
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. |
|
Copyright:
|
This publication is copyrighted. You may download, display and print it for Your own personal use. Commercial use is prohibited. |