An Introduction To Inertial And Visual Sensing  

Oleh:

[s.n]

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 26 no. 6 (Jun. 2007), page 519-536.
Topik: vision; inertial sensing; sensor fusion
Fulltext: 519.pdf (1.06MB)

Isi artikel

In this paper we present a tutorial introduction to two important senses for biological and robotic systems — inertial and visual perception. We discuss the fundamentals of these two sensing modalities from a biological and an engineering perspective. Digital camera chips and micro-machined accelerometers and gyroscopes are now commodities, and when combined with today’s available computing can provide robust estimates of self-motion as well 3D scene structure, without external infrastructure. We discuss the complementarity of these sensors, describe some fundamental approaches to fusing their outputs and survey the field.

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