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.

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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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152 citations in Scopus
119 citations in Web of Science®
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ID Code: 33797
Item Type: Journal Article
Refereed: Yes
Keywords: vision, sensor fusion, inertial sensing
DOI: 10.1177/0278364907079279
ISSN: 0278-3649
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 04:56
Last Modified: 29 Feb 2012 14:11

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