A Monocular Camera Gyroscope
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Yksityiskohdat
| Alkuperäiskieli | Englanti |
|---|---|
| Sivut | 124-131 |
| Julkaisu | Gyroscopy and Navigation |
| Vuosikerta | 3 |
| Numero | 2 |
| DOI - pysyväislinkit | |
| Tila | Julkaistu - 2012 |
| OKM-julkaisutyyppi | A1 Alkuperäisartikkeli |
Tiivistelmä
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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