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2-point-based outlier rejection for camera-IMU systems with applications to micro aerial vehicles


Troiani, Chiara; Martinelli, Agostino; Laugier, Christian; Scaramuzza, Davide (2014). 2-point-based outlier rejection for camera-IMU systems with applications to micro aerial vehicles. In: IEEE International Conference on Robotics and Automation (ICRA, Hong Kong, 31 May 2014 - 7 June 2014, 5530-5536.

Abstract

This paper presents a novel method to perform the outlier rejection task between two different views of a camera rigidly attached to an Inertial Measurement Unit (IMU). Only two feature correspondences and gyroscopic data from IMU measurerments are used to compute the motion hypothesis. By exploiting this 2-point motion parametrization, we propose two algorithms to remove wrong data associations in the feature-matching process for case of a 6DoF motion. We show that in the case of a monocular camera mounted on a quadrotor vehicle, motion priors from IMU can be used to discard wrong estimations in the framework of a 2-point-RANSAC based approach. The proposed methods are evaluated on both synthetic and real data.

Abstract

This paper presents a novel method to perform the outlier rejection task between two different views of a camera rigidly attached to an Inertial Measurement Unit (IMU). Only two feature correspondences and gyroscopic data from IMU measurerments are used to compute the motion hypothesis. By exploiting this 2-point motion parametrization, we propose two algorithms to remove wrong data associations in the feature-matching process for case of a 6DoF motion. We show that in the case of a monocular camera mounted on a quadrotor vehicle, motion priors from IMU can be used to discard wrong estimations in the framework of a 2-point-RANSAC based approach. The proposed methods are evaluated on both synthetic and real data.

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7 citations in Web of Science®
11 citations in Scopus®
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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Event End Date:7 June 2014
Deposited On:12 Aug 2016 07:36
Last Modified:21 Nov 2017 18:34
Publisher:Institute of Electrical and Electronics Engineers
Series Name:IEEE International Conference on Robotics and Automation. Proceedings
ISSN:1050-4729
Publisher DOI:https://doi.org/10.1109/ICRA.2014.6907672
Related URLs:http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6907672 (Publisher)
http://www.icra2014.com/ (Organisation)
Other Identification Number:merlin-id:10216

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