A novel system for object pose estimation using fused vision and inertial data

Li, Juan and Besada Portas, Juan Alberto and Bernardos Barbolla, Ana María and Tarrío Alonso, Paula and Casar Corredera, Jose Ramon (2017). A novel system for object pose estimation using fused vision and inertial data. "Information Fusion", v. 33 ; pp. 15-28. ISSN 1566-2535. https://doi.org/10.1016/j.inffus.2016.04.006.

Description

Title: A novel system for object pose estimation using fused vision and inertial data
Author/s:
  • Li, Juan
  • Besada Portas, Juan Alberto
  • Bernardos Barbolla, Ana María
  • Tarrío Alonso, Paula
  • Casar Corredera, Jose Ramon
Item Type: Article
Título de Revista/Publicación: Information Fusion
Date: January 2017
ISSN: 1566-2535
Volume: 33
Subjects:
Freetext Keywords: Pose estimation, Error propagation, Augmented reality, Sensor fusión, Visual sensors, Inertial systems
Faculty: E.T.S.I. Telecomunicación (UPM)
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Six-degree-of-freedom (6-DoF) pose estimation is of fundamental importance to many applications, such as robotics, indoor tracking and Augmented Reality. Although a number of pose estimation solutions have been proposed, it remains a critical challenge to provide a low-cost, real-time, accurate and easy-to- deploy solution. Addressing this issue, this paper describes a multisensor system for accurate pose esti- mation that relies on low-cost technologies, in particular on a combination of webcams, inertial sensors and a printable colored fiducial. With the aid of inertial sensors, the system can estimate full pose both with monocular and stereo vision. The system error propagation is analyzed and validated by simulations and experimental tests. Our error analysis and experimental data demonstrate that the proposed system has great potential in practical applications, as it achieves high accuracy (in the order of centimeters for the position estimation and few degrees for the orientation estimation) using the mentioned low-cost sensors, while satisfying tight real-time requirements.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainTEC2014-55146-RUnspecifiedUnspecifiedInvestigación en tecnologías pervasivas para interacción avanzada en espacios públicos inteligentes
Universidad Politécnica de MadridRP150955017UnspecifiedUnspecifiedUnspecified

More information

Item ID: 50168
DC Identifier: http://oa.upm.es/50168/
OAI Identifier: oai:oa.upm.es:50168
DOI: 10.1016/j.inffus.2016.04.006
Official URL: http://www.sciencedirect.com/science/article/pii/S1566253516300239
Deposited by: Memoria Investigacion
Deposited on: 01 May 2018 14:57
Last Modified: 01 Feb 2019 23:30
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