ICRA 2011 Paper Abstract


Paper ThA104.5

Kneip, Laurent (ETHZ), Martinelli, Agostino (INRIA Grenoble-Rhone-Alpes), Weiss, Stephan (ETH Zurich), Scaramuzza, Davide (ETH Zurich), Siegwart, Roland (ETH Zurich)

Closed-Form Solution for Absolute Scale Velocity Determination Combining Inertial Measurements and a Single Feature Correspondence

Scheduled for presentation during the Regular Sessions "Sensor Fusion I" (ThA104), Thursday, May 12, 2011, 09:20−09:35, Room 3E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Sensor Fusion, Computer Vision for Robotics and Automation


This paper presents a closed-form solution for metric velocity estimation of a single camera using inertial measurements. It combines accelerometer and attitude measurements with feature observations in order to compute both the distance to the feature and the speed of the camera inside the camera frame. Notably, we show that this is possible by just using three consecutive camera positions and a single feature correspondence. Our approach represents a compact linear and multirate solution for estimating complementary information to regular essential matrix computation, namely the scale of the problem. The algorithm is thoroughly validated on simulated and real data and conditions for good quality of the results are identified.



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