An introduction to inertial and visual sensing
Corke, Peter, Lobo, Jorge, & Dias, Jorge (2007) An introduction to inertial and visual sensing. The International Journal of Robotics Research, 26(6), pp. 519-535.
In this paper we present a tutorial introduction to two important senses for biological and robotic systems — inertial and visual perception. We discuss the fundamentals of these two sensing modalities from a biological and an engineering perspective. Digital camera chips and micro-machined accelerometers and gyroscopes are now commodities, and when combined with today's available computing can provide robust estimates of self-motion as well 3D scene structure, without external infrastructure. We discuss the complementarity of these sensors, describe some fundamental approaches to fusing their outputs and survey the field.
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|Item Type:||Journal Article|
|Keywords:||vision, sensor fusion, inertial sensing|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2007 SAGE|
|Deposited On:||02 Sep 2010 14:56|
|Last Modified:||01 Mar 2012 00:11|
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