Jorge Lobo and Jorge Dias An Introduction to Inertial and Visual Sensing

An Introduction to Inertial and Visual Sensing an Introduction to Inertial and Visual Sensing

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...

Exploiting Inertial Sensing in Mosaicing and Visual Navigation

Camera-Inertial Sensor modelling and alignment for Visual Navigation

Inertial sensors attached to a camera can provide valuable data about camera pose and movement. In biological vision systems, inertial cues provided by the vestibular system, are fused with vision at an early processing stage. Vision systems in autonomous vehicles can also benefit by taking inertial cues into account. In order to use off-the-shelf inertial sensors attached to a camera, appropri...

Fusing of image and inertial sensing for camera calibration

This paper explores the integration of inertial sensor data with vision. A method is proposed for the estimation of camera focal distance based on vanishing points and inertial sensors. Visual and inertial sensing are two sensory modalities that can be explored to give robust solutions on image segmentation and recovering of 3D structure from images, increasing the capabilities of autonomous ve...

Relative Pose Calibration Between Visual and Inertial Sensors

This paper proposes an approach to calibrate off-the-shelf cameras and inertial sensors to have a useful integrated system to be used in static and dynamic situations. The rotation between the camera and the inertial sensor can be estimated, when calibrating the camera, by having both sensors observe the vertical direction, using a vertical chessboard target and gravity. The translation between...