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
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.
Type de document :
Communication dans un congrès
IEEE International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia
Liste complète des métadonnées

Littérature citée [15 références]  Voir  Masquer  Télécharger
https://hal.archives-ouvertes.fr/hal-01878711
Contributeur : Minh Duc Hua <>
Soumis le : vendredi 21 septembre 2018 - 13:17:54
Dernière modification le : mardi 25 septembre 2018 - 01:20:22

Fichier

ICRA_2018.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01878711, version 1

Collections

I3S | INSMI | TDS-MACS | INRIA | UNICE | UNIV-COTEDAZUR

Citation

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. IEEE International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia. 〈hal-01878711〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

20

Téléchargements de fichiers

10

Contact

support.ccsd.cnrs.fr
hal.support@ccsd.cnrs.fr
Logo CCSD