Abstract
This paper works toward the development and implementation of an INS/Vision integration algorithm for tracking an object with inertial measurement unit inside. For avoiding distortion and image processing error, an object’s geometric model is used. For that purpose, Indirect Kalman filters are built as sensor fusion core. Experimental tests were performed with help of a mobile robot to hold and move the object in the view of stereo camera. Experiment result shows that object model which is embedded in process model helps improve the performance of the integration system prior to conventional one.
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Nguyen, H.Q.P., Kang, HJ., Suh, YS. (2010). Vision-Inertial Tracking Algorithm with a Known Object’s Geometric Model. In: Huang, DS., Zhang, X., Reyes García, C.A., Zhang, L. (eds) Advanced Intelligent Computing Theories and Applications. With Aspects of Artificial Intelligence. ICIC 2010. Lecture Notes in Computer Science(), vol 6216. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14932-0_56
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DOI: https://doi.org/10.1007/978-3-642-14932-0_56
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14931-3
Online ISBN: 978-3-642-14932-0
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