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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Tiefenbacher, P.; Schulze, T.; Rigoll, G. 
Title:
Off-the-Shelf Sensor Integration for mono-SLAM on Smart Devices 
Pages contribution:
pp. 15 - 20 
Abstract:
This work proposes a fusion of inertial measurement units (IMUs) and a visual tracking system on an embedded device. The sensor-to-sensor calibration and the pose estimation are both achieved through an unscented Kalman filter (UKF). Two approaches for a UKF-based pose estimation are presented: The first uses the estimated pose of the visual SLAM system as measurement input for the UKF; The second modifies the motion model of the visual tracking system. Our results show that IMUs increase track...    »
 
Book / Congress title:
Proc. 28th Conference on Computer Vision and Pattern Recognition, CVPR, Workshop 
Organization:
IEEE 
Year:
2015 
Month:
Jun 
TUM Institution:
Lehrstuhl für Mensch-Maschine-Kommunikation