A novel system for object pose estimation using fused vision and inertial data
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- 作者：Juan Li ; li.juan@grpss.ssr.upm.es" class="auth_mail" title="E-mail the corresponding author ; Juan A. Besada ; Ana M. Bernardos ; Paula Tarrí ; o ; José ; R. Casar
- 关键词：Pose estimation ; Error propagation ; Augmented reality ; Sensor fusion ; Visual sensors ; Inertial systems
- 刊名：Information Fusion
- 出版年：2017
- 出版时间：January 2017
- 年：2017
- 卷：33
- 期：Complete
- 页码：15-28
- 全文大小：2434 K
文摘
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We present a novel system to object pose estimation by fusing vision and inertial data.
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Different algorithms for fusing data from inertial sensors and monocular or stereo vision data are described and compared.
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The system error propagation property is analyzed.
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The performance of the proposed system is assessed by simulation and experimental data.
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The system can achieve accurate, fast and low-cost 6-DoF pose estimation.