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Pose Estimation Using Monocular Vision and Inertial Sensors Aided with Ultra Wide Band
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- Nyqvist, Hanna E. (author)
- Linköpings universitet,Reglerteknik,Tekniska fakulteten
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- Skoglund, Martin A. (author)
- Linköpings universitet,Reglerteknik,Tekniska fakulteten
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- Hendeby, Gustaf (author)
- Linköpings universitet,Reglerteknik,Tekniska fakulteten
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- (creator_code:org_t)
- IEEE, 2015
- 2015
- English.
- In: International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2015. - : IEEE. - 9781467384025 - 9781467384018
- Conference paper (peer-reviewed)
Abstract
Subject headings
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- This paper presents a method for global pose estimation using inertial sensors, monocular vision, and ultra wide band (UWB) sensors. It is demonstrated that the complementary characteristics of these sensors can be exploited to provide improved global pose estimates, without requiring the introduction of any visible infrastructure, such as fiducial markers. Instead, natural landmarks are jointly estimated with the pose of the platform using a simultaneous localization and mapping framework, supported by a small number of easy-to-hide UWB beacons with known positions. The method is evaluated with data from a controlled indoor experiment with high precision ground truth. The results show the benefit of the suggested sensor combination and suggest directions for further work.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- inertial sensor (IMU)
- ultra wide band (UWB)
- monocular camera
- simultaneous localization and mapping (SLAM)
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- kon (subject category)
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