A High-Performance Tracking System based on Camera and IMU
2013 (English)In: 2013 16th International Conference on Information Fusion, 2013, 2065-2072 p.Conference paper (Refereed)
We consider an indoor tracking system consisting of an inertial measurement unit (IMU) and a camera that detects markers in the environment. There are many camera based tracking systems described in literature and available commercially, and a few of them also has support from IMU. These are based on the best-effort principle, where the performance varies depending on the situation. In contrast to this, we start with a specification of the system performance, and the design isbased on an information theoretic approach, where specific user scenarios are defined. Precise models for the camera and IMU are derived for a fusion filter, and the theoretical Cramér-Rao lower bound and the Kalman filter performance are evaluated. In this study, we focus on examining the camera quality versus the marker density needed to get at least a one mm and one degree accuracy in tracking performance.
Place, publisher, year, edition, pages
2013. 2065-2072 p.
Tracking, IMU, Vision, Indoor, Landmarks
IdentifiersURN: urn:nbn:se:liu:diva-96751ISI: 000341370000274ISBN: 978-605-86311-1-3OAI: oai:DiVA.org:liu-96751DiVA: diva2:643227
2013 16th International Conference on Information Fusion, Istanbul, Turkey, July 9-12, 2013
FunderSwedish Foundation for Strategic Research