Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Visual Inertial Navigation and Calibration
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
2011 (Engelska)Licentiatavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

Processing and interpretation of visual content is essential to many systems and applications. This requires knowledge of how the content is sensed and also what is sensed. Such knowledge is captured in models which, depending on the application, can be very advanced or simple. An application example is scene reconstruction using a camera; if a suitable model of the camera is known, then a model of the scene can be estimated from images acquired at different, unknown, locations, yet, the quality of the scene model depends on the quality of the camera model. The opposite is to estimate the camera model and the unknown locations using a known scene model. In this work, two such problems are treated in two rather different applications.

There is an increasing need for navigation solutions less dependent on external navigation systems such as the Global Positioning System (GPS). Simultaneous Localisation and Mapping (slam) provides a solution to this by estimating both navigation states and some properties of the environment without considering any external navigation systems.

The first problem considers visual inertial navigation and mapping using a monocular camera and inertial measurements which is a slam problem. Our aim is to provide improved estimates of the navigation states and a landmark map, given a slam solution. To do this, the measurements are fused in an Extended Kalman Filter (ekf) and then the filtered estimates are used as a starting solution in a nonlinear least-squares problem which is solved using the Gauss-Newton method. This approach is evaluated on experimental data with accurate ground truth for reference.

In Augmented Reality (ar), additional information is superimposed onto the surrounding environment in real time to reinforce our impressions. For this to be a pleasant experience it is necessary to have a good models of the ar system and the environment.

The second problem considers calibration of an Optical See-Through Head Mounted Display system (osthmd), which is a wearable ar system. We show and motivate how the pinhole camera model can be used to represent the osthmd and the user’s eye position. The pinhole camera model is estimated using the Direct Linear Transformation algorithm. Results are evaluated in experiments which also compare different data acquisition methods.

Ort, förlag, år, upplaga, sidor
Linköping: Linköping University Electronic Press , 2011. , s. 39
Serie
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 1500
Nationell ämneskategori
Teknik och teknologier
Identifikatorer
URN: urn:nbn:se:liu:diva-68858Lokalt ID: LiU-TEK-LIC-2011:39OAI: oai:DiVA.org:liu-68858DiVA, id: diva2:421464
Presentation
2011-06-16, Visionen, Hus B, Campus Valla, Linköpings universitet, Linköping, 14:30 (Engelska)
Opponent
Handledare
Tillgänglig från: 2011-06-08 Skapad: 2011-06-08 Senast uppdaterad: 2020-02-03Bibliografiskt granskad
Delarbeten
1. A Nonlinear Least-Squares Approach to the SLAM Problem
Öppna denna publikation i ny flik eller fönster >>A Nonlinear Least-Squares Approach to the SLAM Problem
2011 (Engelska)Ingår i: Proceedings of the 18th IFAC World Congress, 2011: World Congress, Volume # 18, Part 1 / [ed] Sergio Bittanti, Angelo Cenedese and Sandro Zampieri, IFAC Papers Online, 2011, s. 4759-4764Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

In this paper we present a solution to the simultaneous localisation and mapping (SLAM) problem using a camera and inertial sensors. Our approach is based on the maximum a posteriori (MAP) estimate of the complete SLAM problem. The resulting problem is posed in a nonlinear least-squares framework which we solve with the Gauss-Newton method. The proposed algorithm is evaluated on experimental data using a sensor platform mounted on an industrial robot. In this way, accurate ground truth is available, and the results are encouraging.

Ort, förlag, år, upplaga, sidor
IFAC Papers Online, 2011
Nyckelord
Inertial measurement units, Cameras, Smoothing, Dynamic systems, State estimation
Nationell ämneskategori
Reglerteknik
Identifikatorer
urn:nbn:se:liu:diva-68857 (URN)10.3182/20110828-6-IT-1002.02042 (DOI)978-3-902661-93-7 (ISBN)
Konferens
The 18th IFAC World Congress, 2011, August 28th to Friday September 2nd, Milano, Italy
Tillgänglig från: 2011-06-08 Skapad: 2011-06-08 Senast uppdaterad: 2016-05-03Bibliografiskt granskad
2. Parameter Estimation Variance of the Single Point Active Alignment Method in Optical See-Through Head Mounted Display Calibration
Öppna denna publikation i ny flik eller fönster >>Parameter Estimation Variance of the Single Point Active Alignment Method in Optical See-Through Head Mounted Display Calibration
Visa övriga...
2011 (Engelska)Ingår i: Proceedings of the IEEE Virtual Reality Conference / [ed] Michitaka Hirose, Benjamin Lok, Aditi Majumder and Dieter Schmalstieg, Piscataway, NJ, USA: IEEE , 2011, s. 27-24Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

The parameter estimation variance of the Single Point Active Alignment Method (SPAAM) is studied through an experiment where 11 subjects are instructed to create alignments using an Optical See-Through Head Mounted Display (OSTHMD) such that three separate correspondence point distributions are acquired. Modeling the OSTHMD and the subject's dominant eye as a pinhole camera, findings show that a correspondence point distribution well distributed along the user's line of sight yields less variant parameter estimates. The estimated eye point location is studied in particular detail. Thefindings of the experiment are complemented with simulated datawhich show that image plane orientation is sensitive to the numberof correspondence points. The simulated data also illustrates someinteresting properties on the numerical stability of the calibrationproblem as a function of alignment noise, number of correspondencepoints, and correspondence point distribution.

Ort, förlag, år, upplaga, sidor
Piscataway, NJ, USA: IEEE, 2011
Serie
IEEE Virtual Reality Conference, ISSN 1087-8270
Nyckelord
single point active alignment method, camera resectioning, calibration, optical see-through head mounted display, augmented reality
Nationell ämneskategori
Teknik och teknologier
Identifikatorer
urn:nbn:se:liu:diva-67233 (URN)10.1109/VR.2011.5759432 (DOI)000297260400004 ()978-1-4577-0037-8 (online), 978-1-4577-0039-2 (print) (ISBN)
Konferens
IEEE Virtual Reality Conference, pages 27–34, Singapore, Republic of Singapore
Tillgänglig från: 2011-04-04 Skapad: 2011-04-04 Senast uppdaterad: 2015-09-22Bibliografiskt granskad

Open Access i DiVA

Visual Inertial Navigation and Calibration(480 kB)2063 nedladdningar
Filinformation
Filnamn FULLTEXT01.pdfFilstorlek 480 kBChecksumma SHA-512
f84b5497c38a006b6749b149ecfaa4cae73a2944e3c1fe39bc763dc34c2327e36210c0e50bc153c6840432455aeb345b8b1208a8507473089e191bc1816d2b88
Typ fulltextMimetyp application/pdf
omslag(42 kB)47 nedladdningar
Filinformation
Filnamn COVER01.pdfFilstorlek 42 kBChecksumma SHA-512
9f5614cf69d63a451876f108ed63ed60a76ffc9ddf4ecaebf2bf124d2c3be38694a96b52b26008d0773f6dab903931ab71de4e5d92c85703272c7b5abc525b04
Typ coverMimetyp application/pdf
Beställ online >>

Sök vidare i DiVA

Av författaren/redaktören
Skoglund, Martin A.
Av organisationen
ReglerteknikTekniska högskolan
Teknik och teknologier

Sök vidare utanför DiVA

GoogleGoogle Scholar
Totalt: 2063 nedladdningar
Antalet nedladdningar är summan av nedladdningar för alla fulltexter. Det kan inkludera t.ex tidigare versioner som nu inte längre är tillgängliga.

urn-nbn

Altmetricpoäng

urn-nbn
Totalt: 797 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf