Publikation
Using optical flow for filling the gaps in visual-inertial tracking
Gabriele Bleser; Gustaf Hendeby
In: Proceedings of the European Signal Processing Conference. European Signal Processing Conference (EUSIPCO-10), August 23-27, Aalborg, Denmark, EURASIP, 2010.
Zusammenfassung
Egomotion tracking is since the last decades an often addressed
problem and hybrid approaches evidentially have potential to provide
accurate, efficient and robust results. Simultaneous localisation
and mapping (SLAM) - in contrast to a model-based approach -
is used to enable tracking in unknown environments. However,
it also suffers from high computational complexity. Moreover, in
many applications, the map itself is not needed and the target environment
is partially known, e.g. in a few 3D anchor points. In
this paper, rather than using SLAM, optical flow measurements are
introduced into a model-based system. With these measurements, a
modified visual-inertial tracking method is derived, which in Monte
Carlo simulations reduces the need for 3D points and thus allows
tracking during extended gaps of 3D point registrations