A Monocular Camera Gyroscope
Research output: Contribution to journal › Article › Scientific › peer-review
|Journal||Gyroscopy and Navigation|
|Publication status||Published - 2012|
|Publication type||A1 Journal article-refereed|
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.