Efficient camera motion and 3D recovery using an inertial sensor
Authors:
- 1 May 2007
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 55-62
Abstract
This paper presents a system for 3D reconstruction using a camera combined with an inertial sensor. The system mainly exploits the orientation obtained from the inertial sensor in order to accelerate and improve the matching process between wide baseline images. The orientation further contributes to incremental 3D reconstruction of a set of feature points from linear equation systems. The processing can be performed online while using consecutive groups of three images overlapping each other. Classic or incremental bundle adjustment is applied to improve the quality of the model. Test validation has been performed on object and camera centric sequences.Keywords
This publication has 9 references indexed in Scilit:
- Distinctive Image Features from Scale-Invariant KeypointsInternational Journal of Computer Vision, 2004
- Incremental motion estimation through modified bundle adjustment2004
- Vision and inertial sensor cooperation using gravity as a vertical referenceIEEE Transactions on Pattern Analysis and Machine Intelligence, 2003
- Robust estimation of camera translation between two images using a camera with a 3D orientation sensor2003
- A stereo vision-based augmented reality system with an inertial sensor2002
- From images to 3D modelsCommunications of the ACM, 2002
- Low-cost model reconstruction from image sequences2001
- Robust parameterization and computation of the trifocal tensorImage and Vision Computing, 1997
- Shape and motion from image streams under orthography: a factorization methodInternational Journal of Computer Vision, 1992