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| Type | Conference or Workshop Paper |
| Scope | Discipline-based scholarship |
| Published in Proceedings | Yes |
| Title | 2-point-based outlier rejection for camera-IMU systems with applications to micro aerial vehicles |
| Organization Unit | |
| Authors |
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| Presentation Type | paper |
| Item Subtype | Original Work |
| Refereed | Yes |
| Status | Published in final form |
| Language |
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| ISSN | 1050-4729 |
| Page Range | 5530 - 5536 |
| Event Title | IEEE International Conference on Robotics and Automation (ICRA |
| Event Type | conference |
| Event Location | Hong Kong |
| Event Start Date | May 31 - 2014 |
| Event End Date | June 7 - 2014 |
| Series Name | IEEE International Conference on Robotics and Automation. Proceedings |
| Place of Publication | Hong Kong |
| Publisher | Institute of Electrical and Electronics Engineers |
| Abstract Text | This paper presents a novel method to perform the outlier rejection task between two different views of a camera rigidly attached to an Inertial Measurement Unit (IMU). Only two feature correspondences and gyroscopic data from IMU measurerments are used to compute the motion hypothesis. By exploiting this 2-point motion parametrization, we propose two algorithms to remove wrong data associations in the feature-matching process for case of a 6DoF motion. We show that in the case of a monocular camera mounted on a quadrotor vehicle, motion priors from IMU can be used to discard wrong estimations in the framework of a 2-point-RANSAC based approach. The proposed methods are evaluated on both synthetic and real data. |
| Related URLs |
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| Digital Object Identifier | 10.1109/ICRA.2014.6907672 |
| Other Identification Number | merlin-id:10216 |
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