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A Monocular Camera Gyroscope

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Original languageEnglish
Place of PublicationTampere
PublisherTampereen teknillinen yliopisto
Number of pages16
ISBN (Print)978-952-15-2627-5
Publication statusPublished - 2011
Publication typeD4 Published development or research report or study

Publication series

NameTampereen teknillinen yliopisto. Matematiikan laitos. Tutkimusraportti
PublisherTampereen teknillinen yliopisto


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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Field of science, Statistics Finland

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