Relative Pose Estimation Algorithm with Gyroscope Sensor

This paper proposes a novel vision and inertial fusion algorithm S2fM (Simplified Structure from Motion) for camera relative pose estimation. Different from current existing algorithms, our algorithm estimates rotation parameter and translation parameter separately. S2fM employs gyroscopes to estima...

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Bibliographic Details
Published inJournal of sensors Vol. 2016; no. 2016; pp. 1 - 8
Main Authors Wei, Shanshan, Xie, Wei, He, Zhiqiang
Format Journal Article
LanguageEnglish
Published Cairo, Egypt Hindawi Publishing Corporation 01.01.2016
John Wiley & Sons, Inc
Subjects
Accuracy
Algorithms
Calibration
Cameras
Computer industry
Decomposition
Efficiency
Eigenvalues
Geometry
Methods
Researchers
Sensors
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ISSN1687-725X
1687-7268
1687-7268
DOI10.1155/2016/8923587

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Summary:This paper proposes a novel vision and inertial fusion algorithm S2fM (Simplified Structure from Motion) for camera relative pose estimation. Different from current existing algorithms, our algorithm estimates rotation parameter and translation parameter separately. S2fM employs gyroscopes to estimate camera rotation parameter, which is later fused with the image data to estimate camera translation parameter. Our contributions are in two aspects. (1) Under the circumstance that no inertial sensor can estimate accurately enough translation parameter, we propose a translation estimation algorithm by fusing gyroscope sensor and image data. (2) Our S2fM algorithm is efficient and suitable for smart devices. Experimental results validate efficiency of the proposed S2fM algorithm.
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ISSN:1687-725X
1687-7268
1687-7268
DOI:10.1155/2016/8923587