A Monocular Camera Gyroscope
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Tiedostot
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URN:
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http://URN.fi/URN:NBN:fi:tty-2011081814758
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Nimeke:
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A Monocular Camera Gyroscope |
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Tekijä:
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Huttunen, Ville; Piche, Robert |
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Julkaisun tyyppi:
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Laitosraportti - TUT Publication series |
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Julkaisuaika:
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2011-08-04 |
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Yliopisto:
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Tampereen teknillinen yliopisto – Tampere University of Tecnology |
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Tiedekunta:
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Luonnontieteiden ja ympäristötekniikan tiedekunta – Faculty of Science and Environmental Engineering |
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Laitos:
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Matematiikan laitos – Department of Mathematics |
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Tiivistelmä:
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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. |
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Tekijänoikeudet:
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This publication is copyrighted. You may download, display and print it for Your own personal use. Commercial use is prohibited. |
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