Attitude, Linear Velocity and Depth Estimation of a Camera observing a planar target using continuous homography and inertial data

Minh-Duc Hua; Ninad Manerikar; Tarek Hamel; Claude Samson

Attitude, Linear Velocity and Depth Estimation of a Camera observing a planar target using continuous homography and inertial data

Minh-Duc Hua ¹ Ninad Manerikar ¹ Tarek Hamel ¹ Claude Samson ^{2, 1}

1 Laboratoire d'Informatique, Signaux, et Systèmes de Sophia-Antipolis (I3S) / Equipe OSCAR

Laboratoire I3S - SIS - Signal, Images et Systèmes

2 CRISAM - Inria Sophia Antipolis - Méditerranée

Abstract : This paper revisits the problem of estimating the attitude, linear velocity and depth of an IMU-Camera with respect to a planar target. The considered solution relies on the measurement of the optical flow (extracted from the continuous homography) complemented with gyrometer and accelerometer measurements. The proposed deterministic observer is accompanied with an observability analysis that points out camera's motion excitation conditions whose satisfaction grants stability of the observer and convergence of the estimation errors to zero. The performance of the observer is illustrated by performing experiments on a test-bed IMU-Camera system.

Document type :

Conference papers

Domain :

Mathematics [math]

Mathematics [math] / Dynamical Systems [math.DS]

Mathematics [math] / Group Theory [math.GR]

Mathematics [math] / Optimization and Control [math.OC]

Engineering Sciences [physics]

Engineering Sciences [physics] / Automatic

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https://hal.archives-ouvertes.fr/hal-01878711
Contributor : Minh Duc Hua <>
Submitted on : Friday, September 21, 2018 - 1:17:54 PM
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Attitude, Linear Velocity and Depth Estimation of a Camera observing a planar target using continuous homography and inertial data

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