A combined vision-inertial fusion approach for 6-DoF object pose estimation

Li, Juan and Bernardos Barbolla, Ana M. and Tarrío Alonso, Paula and Casar Corredera, Jose Ramon (2015). A combined vision-inertial fusion approach for 6-DoF object pose estimation. In: "Seventh International Conference on Machine Vision (ICMV 2014)", 19/11/2014 - 21/11/2014, Milan, Italy. pp. 1-12. https://doi.org/10.1117/12.2180574.

Description

Title: A combined vision-inertial fusion approach for 6-DoF object pose estimation
Author/s:
  • Li, Juan
  • Bernardos Barbolla, Ana M.
  • Tarrío Alonso, Paula
  • Casar Corredera, Jose Ramon
Item Type: Presentation at Congress or Conference (Article)
Event Title: Seventh International Conference on Machine Vision (ICMV 2014)
Event Dates: 19/11/2014 - 21/11/2014
Event Location: Milan, Italy
Title of Book: SPIE Proceedings
Date: February 2015
Volume: 9445
Subjects:
Freetext Keywords: Pose estimation, computer vision, sensor fusion, augmented reality
Faculty: E.T.S.I. Telecomunicación (UPM)
Department: Señales, Sistemas y Radiocomunicaciones
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

The estimation of the 3D position and orientation of moving objects (‘pose’ estimation) is a critical process for many applications in robotics, computer vision or mobile services. Although major research efforts have been carried out to design accurate, fast and robust indoor pose estimation systems, it remains as an open challenge to provide a low-cost, easy to deploy and reliable solution. Addressing this issue, this paper describes a hybrid approach for 6 degrees of freedom (6-DoF) pose estimation that fuses acceleration data and stereo vision to overcome the respective weaknesses of single technology approaches. The system relies on COTS technologies (standard webcams, accelerometers) and printable colored markers. It uses a set of infrastructure cameras, located to have the object to be tracked visible most of the operation time; the target object has to include an embedded accelerometer and be tagged with a fiducial marker. This simple marker has been designed for easy detection and segmentation and it may be adapted to different service scenarios (in shape and colors). Experimental results show that the proposed system provides high accuracy, while satisfactorily dealing with the real-time constraints.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainTEC2011- 28626-C02-01UnspecifiedMinisterio de Economía y CompetitividadUnspecified

More information

Item ID: 42394
DC Identifier: http://oa.upm.es/42394/
OAI Identifier: oai:oa.upm.es:42394
DOI: 10.1117/12.2180574
Deposited by: Memoria Investigacion
Deposited on: 31 Jul 2016 09:56
Last Modified: 31 Jul 2016 09:56
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