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Inertial Measurement Unit Application for Time of Flight Cameras
2011 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Using special kinds of cameras or scanners it is possible to create 3D models of objects.This thesis deals with integrating an Inertial Measurement Unit (IMU) with sucha camera, to allow for simultaneous capture of inertial data and camera frames. Andpossibly be able to improve one of the most common algorithms for creating 3D models,the Iterative Closest Point algorithm (ICP). By adding inertial sensing equipment to thecamera it is possible to aid the algorithm in such a way that a better, more accurate 3Dmodel can be obtained. To achieve this, an IMU has been used, and software has beenwritten to calculate inertial positioning data. The prototype has undergone various teststo illustrate the performance of the system, and to show how the algorithm may protfrom the addition of inertial positioning. In conclusion it can be stated that the writtensoftware works as intended and that the ICP algorithm does benet from the IMU, notby a very large amount but some of the known problems that the algorithm suers fromare reduced.

Place, publisher, year, edition, pages
Keyword [en]
Keyword [sv]
Teknik, IMU, Inertial, Time of flight
URN: urn:nbn:se:ltu:diva-45921Local ID: 3902202c-412e-4d2b-8dee-ad2d5281dd4cOAI: diva2:1019222
Subject / course
Student thesis, at least 30 credits
Educational program
Electrical Engineering, master's level
Validerat; 20110426 (anonymous)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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Håkansson, Mikael

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