TY - GEN
T1 - Visuo-inertial fusion for homography-based filtering and estimation
AU - Eudes, Alexandre
AU - Morin, Pascal
AU - Mahony, Robert
AU - Hamel, Tarek
PY - 2013
Y1 - 2013
N2 - The paper concerns visuo-inertial filtering and estimation based on homography and angular velocity measurements, i.e. data obtained from a mono-camera/IMU sensor. We extend recently developed nonlinear filters on the special linear group of homographies to the estimation of scene parameters and velocity of the sensor. A validation of the proposed solution and a comparative evaluation based on real data is presented.
AB - The paper concerns visuo-inertial filtering and estimation based on homography and angular velocity measurements, i.e. data obtained from a mono-camera/IMU sensor. We extend recently developed nonlinear filters on the special linear group of homographies to the estimation of scene parameters and velocity of the sensor. A validation of the proposed solution and a comparative evaluation based on real data is presented.
UR - http://www.scopus.com/inward/record.url?scp=84893784230&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6697106
DO - 10.1109/IROS.2013.6697106
M3 - Conference contribution
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5186
EP - 5192
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -