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Journal of the Optical Society of America A

Journal of the Optical Society of America A

| OPTICS, IMAGE SCIENCE, AND VISION

  • Vol. 18, Iss. 12 — Dec. 1, 2001
  • pp: 2982–2997

Robust structure from motion estimation using inertial data

Gang Qian, Rama Chellappa, and Qinfen Zheng  »View Author Affiliations


JOSA A, Vol. 18, Issue 12, pp. 2982-2997 (2001)
http://dx.doi.org/10.1364/JOSAA.18.002982


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Abstract

The utility of using inertial data for the structure-from-motion (SfM) problem is addressed. We show how inertial data can be used for improved noise resistance, reduction of inherent ambiguities, and handling of mixed-domain sequences. We also show that the number of feature points needed for accurate and robust SfM estimation can be significantly reduced when inertial data are employed. Cramér–Rao lower bounds are computed to quantify the improvements in estimating motion parameters. A robust extended-Kalman-filter-based SfM algorithm using inertial data is then developed to fully exploit the inertial information. This algorithm has been tested by using synthetic and real image sequences, and the results show the efficacy of using inertial data for the SfM problem.

© 2001 Optical Society of America

OCIS Codes
(100.2960) Image processing : Image analysis
(150.0150) Machine vision : Machine vision
(350.2660) Other areas of optics : Fusion

Citation
Gang Qian, Rama Chellappa, and Qinfen Zheng, "Robust structure from motion estimation using inertial data," J. Opt. Soc. Am. A 18, 2982-2997 (2001)
http://www.opticsinfobase.org/josaa/abstract.cfm?URI=josaa-18-12-2982


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