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

Guan Banglei, Ang Su, Zhang Li, Friedrich Fraundorfer

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

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.
Original languageEnglish
Title of host publicationPattern Recognition and Computer Vision
EditorsZ. Lin
Place of PublicationCham
PublisherSpringer
Pages172-183
ISBN (Print)978-3-030-31725-6
DOIs
Publication statusPublished - 2019
EventPRCV 2019: Chines Conference on Pattern Recognition and Computer Vision - Xi'an, China
Duration: 8 Nov 20199 Nov 2019

Publication series

NameLecture Notes in Computer Science
Number11859

Conference

ConferencePRCV 2019
CountryChina
CityXi'an
Period8/11/199/11/19

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Cite this

Banglei, G., Su, A., Li, Z., & Fraundorfer, F. (2019). Rotational Alignment of IMU-camera Systems with 1-Point RANSAC. In Z. Lin (Ed.), Pattern Recognition and Computer Vision (pp. 172-183). (Lecture Notes in Computer Science; No. 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. ed. / Z. Lin. Cham : Springer, 2019. p. 172-183 (Lecture Notes in Computer Science; No. 11859).

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Banglei, G, Su, A, Li, Z & Fraundorfer, F 2019, Rotational Alignment of IMU-camera Systems with 1-Point RANSAC. in Z Lin (ed.), Pattern Recognition and Computer Vision. Lecture Notes in Computer Science, no. 11859, Springer, Cham, pp. 172-183, PRCV 2019, 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, editor, Pattern Recognition and Computer Vision. Cham: Springer. 2019. p. 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. editor / Z. Lin. Cham : Springer, 2019. pp. 172-183 (Lecture Notes in Computer Science; 11859).
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