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

You do not have subscription access to this journal. Citation lists with outbound citation links are available to subscribers only. You may subscribe either as an OSA member, or as an authorized user of your institution.

Contact your librarian or system administrator
or
Log in to access OSA Member Subscription

You do not have subscription access to this journal. Cited by links are available to subscribers only. You may subscribe either as an OSA member, or as an authorized user of your institution.

Contact your librarian or system administrator
or
Log in to access OSA Member Subscription

You do not have subscription access to this journal. Article level metrics are available to subscribers only. You may subscribe either as an OSA member, or as an authorized user of your institution.

Contact your librarian or system administrator
or
Log in to access OSA Member Subscription

Related Journal Articles

• Vision through semireflecting media: polarization analysis (OL)
• Color from shape from color: a simple formalism with known light sources (JOSAA)
• Veridicality of three-dimensional shape perception predicted from amplitude spectra of natural textures (JOSAA)
• Fabric inspection by near-infrared machine vision (OL)
• Radiometric framework for image mosaicking (JOSAA)

Related Conference Papers

• Large Area Pyroelectric Motion Tracking System
• Spatial Position Detection of Three-Dimensional Object Using Complex Amplitude Derived from Fourier Transform Profilometry
• A New Technique to Study Anisoplanatic AO Images of Crowded Fields
• Locating Illumination Sources from Lighting on Planar Surfaces in Paintings: An Application to Georges de la Tour and Caravaggio
• Estimation of Illuminance Flow over Anisotropic Surfaces for Arbitrary Viewpoints