Rotational Alignment of IMU-camera Systems with 1-Point RANSAC

Guan Banglei, Ang Su, Zhang Li, Friedrich Fraundorfer

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandForschungBegutachtung

Abstract

In this paper we present a minimal solution for the rotational alignment of IMU-camera systems based on a homography formulation. The image correspondences between two views are related by homography when the motion of the camera can be effectively approximated as a pure rotation. By exploiting the rotational angles of the features obtained by e.g. the SIFT detector, we compute the rotational alignment of IMU-camera systems with only 1 feature correspondence. The novel minimal case solution allows us to cope with feature mismatches efficiently and robustly within a random sample consensus (RANSAC) scheme. Our method is evaluated on both synthetic and real scene data, demonstrating that our method is suited for the rotational alignment of IMU-camera systems.
Originalspracheenglisch
TitelPattern Recognition and Computer Vision
Redakteure/-innenZ. Lin
ErscheinungsortCham
Herausgeber (Verlag)Springer
Seiten172-183
ISBN (Print)978-3-030-31725-6
DOIs
PublikationsstatusVeröffentlicht - 2019
VeranstaltungPRCV 2019: Chines Conference on Pattern Recognition and Computer Vision - Xi'an, China
Dauer: 8 Nov 20199 Nov 2019

Publikationsreihe

NameLecture Notes in Computer Science
Nummer11859

Konferenz

KonferenzPRCV 2019
LandChina
OrtXi'an
Zeitraum8/11/199/11/19

Fingerprint

Cameras
Detectors

Dies zitieren

Banglei, G., Su, A., Li, Z., & Fraundorfer, F. (2019). Rotational Alignment of IMU-camera Systems with 1-Point RANSAC. in Z. Lin (Hrsg.), Pattern Recognition and Computer Vision (S. 172-183). (Lecture Notes in Computer Science; Nr. 11859). Cham: Springer. https://doi.org/10.1007/978-3-030-31726-3_15

Rotational Alignment of IMU-camera Systems with 1-Point RANSAC. / Banglei, Guan; Su, Ang; Li, Zhang; Fraundorfer, Friedrich.

Pattern Recognition and Computer Vision. Hrsg. / Z. Lin. Cham : Springer, 2019. S. 172-183 (Lecture Notes in Computer Science; Nr. 11859).

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandForschungBegutachtung

Banglei, G, Su, A, Li, Z & Fraundorfer, F 2019, Rotational Alignment of IMU-camera Systems with 1-Point RANSAC. in Z Lin (Hrsg.), Pattern Recognition and Computer Vision. Lecture Notes in Computer Science, Nr. 11859, Springer, Cham, S. 172-183, Xi'an, China, 8/11/19. https://doi.org/10.1007/978-3-030-31726-3_15
Banglei G, Su A, Li Z, Fraundorfer F. Rotational Alignment of IMU-camera Systems with 1-Point RANSAC. in Lin Z, Hrsg., Pattern Recognition and Computer Vision. Cham: Springer. 2019. S. 172-183. (Lecture Notes in Computer Science; 11859). https://doi.org/10.1007/978-3-030-31726-3_15
Banglei, Guan ; Su, Ang ; Li, Zhang ; Fraundorfer, Friedrich. / Rotational Alignment of IMU-camera Systems with 1-Point RANSAC. Pattern Recognition and Computer Vision. Hrsg. / Z. Lin. Cham : Springer, 2019. S. 172-183 (Lecture Notes in Computer Science; 11859).
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