Camera and inertial sensor fusion for the PnP problem: algorithms and experimental results

In this work, we face the problem of estimating the relative position and orientation of a camera and an object, when they are both equipped with inertial measurement units (IMUs), and the object exhibits a set of n landmark points with known coordinates (the so-called Pose estimation or P n P Probl...

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Bibliographic Details
Published in:Machine vision and applications 2021-07, Vol.32 (4), Article 90
Main Authors: D’Alfonso, Luigi, Garone, Emanuele, Muraca, Pietro, Pugliese, Paolo
Format: Article
Language:English
Subjects:
Algorithms
Cameras
Communications Engineering
Computer Science
Image Processing and Computer Vision
Inclinometers
Inertial platforms
Inertial sensing devices
Magnetometers
Networks
Numerical methods
Original Paper
Pattern Recognition
Vision systems
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Summary:In this work, we face the problem of estimating the relative position and orientation of a camera and an object, when they are both equipped with inertial measurement units (IMUs), and the object exhibits a set of n landmark points with known coordinates (the so-called Pose estimation or P n P Problem). We present two algorithms that, fusing the information provided by the camera and the IMUs, solve the P n P problem with good accuracy. These algorithms only use the measurements given by IMUs’ inclinometers, as the magnetometers usually give inaccurate estimates of the Earth magnetic vector. The effectiveness of the proposed methods is assessed by numerical simulations and experimental tests. The results of the tests are compared with the most recent methods proposed in the literature.
ISSN:0932-8092
1432-1769
DOI:10.1007/s00138-021-01219-0