Pose Tracking of Moving Sensor using Monocular Camera and IMU Sensor

• Sukwoo Jung,
• Seho Park,
• KyungTaek Lee,

Vol. 15, No. 8, August 31, 2021
10.3837/tiis.2021.08.017, Download Paper (Free):

• IMU
• Pose Estimation
• Pose Tracking
• Sensor fusion
• visual-inertial fusion

Abstract

Pose estimation of the sensor is important issue in many applications such as robotics, navigation, tracking, and Augmented Reality. This paper proposes visual-inertial integration system appropriate for dynamically moving condition of the sensor. The orientation estimated from Inertial Measurement Unit (IMU) sensor is used to calculate the essential matrix based on the intrinsic parameters of the camera. Using the epipolar geometry, the outliers of the feature point matching are eliminated in the image sequences. The pose of the sensor can be obtained from the feature point matching. The use of IMU sensor can help initially eliminate erroneous point matches in the image of dynamic scene. After the outliers are removed from the feature points, these selected feature points matching relations are used to calculate the precise fundamental matrix. Finally, with the feature point matching relation, the pose of the sensor is estimated. The proposed procedure was implemented and tested, comparing with the existing methods. Experimental results have shown the effectiveness of the technique proposed in this paper.

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