Distance estimation using inertial sensor and vision

A simple distance estimation algorithm using inertial sensors and a mono camera is proposed. Two images of a target are obtained by moving a mono camera. The movement of the camera is estimated using inertial sensors and used as the baseline for the distance estimation. Through experiments, the accuracy of the proposed method is evaluated, where the distance error is 3.9% on average in a few meter ranges.

[1]  Andrea Vedaldi,et al.  Vlfeat: an open and portable library of computer vision algorithms , 2010, ACM Multimedia.

[2]  Yanhua Zhang,et al.  Adaptive filter for a miniature MEMS based attitude and heading reference system , 2004, PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556).

[3]  John Weston,et al.  Strapdown Inertial Navigation Technology , 1997 .

[4]  Dominik Aufderheide,et al.  A visual-inertial approach for camera egomotion estimation and simultaneous recovery of scene structure , 2010, 2010 IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems.

[5]  Ji-Hun Bae,et al.  A study on reliability enhancement for laser and camera calibration , 2012 .

[6]  Jean Ponce,et al.  Computer Vision: A Modern Approach , 2002 .

[7]  Ramakant Nevatia,et al.  Depth measurement by motion stereo , 1976 .

[8]  P. Savage.  Strapdown Inertial Navigation Integration Algorithm Design Part 1: Attitude Algorithms , 1998 .

[9]  David G. Lowe,et al.  Distinctive Image Features from Scale-Invariant Keypoints , 2004, International Journal of Computer Vision.

[10]  Dong-Joong Kang,et al.  Real-time 2D height mapping method for an unmanned vehicle using a stereo camera and laser sensor fusion , 2012 .

[11]  Young Soo Suh,et al.  Pedestrian inertial navigation with gait phase detection assisted zero velocity updating , 2000, 2009 4th International Conference on Autonomous Robots and Agents.

[12]  Salah Sukkarieh,et al.  Inertial Aiding of Inverse Depth SLAM using a Monocular Camera , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.