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Rotational Coordinate Transformation for Visual-Inertial Sensor Fusion

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Social Robotics (ICSR 2016)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9979))

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Abstract

Visual and inertial sensors are used collaboratively in many applications because of their complementary properties. The problem associated with sensor fusion is relative coordinate transformations. This paper presents a quaternion-based method to estimate the relative rotation between visual and inertial sensors. Rotation between a camera and an inertial measurement unit (IMU) is represented by quaternions, which are separately measured to allow the sensor to be optimized individually. Relative quaternions are used so that the global reference is not required to be known. The accuracy of the coordinate transformation was evaluated by comparing with a ground-truth tracking system. The experiment analysis proves the effectiveness of the proposed method in terms of accuracy and robustness.

Hongsheng He’s—work was supported in part by NSFC grant 61305114.

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Authors and Affiliations

  1. Department of Mechanical, Aerospace and Biomedical Engineering, The University of Tennessee, Knoxville, Tennessee, 37996, USA

    Hongsheng He, Yan Li & Jindong Tan

Authors
  1. Hongsheng He
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  2. Yan Li
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  3. Jindong Tan
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Corresponding author

Correspondence to Hongsheng He .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, The University of Kansas, Lawrence, Indiana, USA

    Arvin Agah

  2. Department of Mechanical Engineering, Qatar University, Doha, Qatar

    John-John Cabibihan

  3. School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA

    Ayanna M. Howard

  4. Department of Systems Engineering and Automation, University Carlos III de Madrid, madrid, Spain

    Miguel A. Salichs

  5. Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, Tennessee, USA

    Hongsheng He

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He, H., Li, Y., Tan, J. (2016). Rotational Coordinate Transformation for Visual-Inertial Sensor Fusion. In: Agah, A., Cabibihan, JJ., Howard, A., Salichs, M., He, H. (eds) Social Robotics. ICSR 2016. Lecture Notes in Computer Science(), vol 9979. Springer, Cham. https://doi.org/10.1007/978-3-319-47437-3_42

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  • DOI: https://doi.org/10.1007/978-3-319-47437-3_42

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-47436-6

  • Online ISBN: 978-3-319-47437-3

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