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Real-time hybrid pose estimation from vision and inertial data
Publikationstyp
Conference Paper
Date Issued
2004-05
Sprache
English
Author(s)
Institut
Start Page
480
End Page
486
Citation
1st Canadian Conference on Computer and Robot Vision 2004
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
ISBN of container
0-7695-2127-4
The output signals of inertial sensors and a camera are used to realise a pen-like human-computer interface with six degrees of freedom. The pen-like interface works over planar, structured surfaces. The pose estimation with a monocular camera has a high uncertainty on the rotation if the surface is unknown and no pre-known markers are used. A hybrid pose estimation method is used to improve accuracy. From output signals of three orthogonally placed accelerometers the absolute 2D tilt of the pen-like interface with respect to the gravitational field is calculated. This 2D rotation information is used to improve the robustness of the pose estimation using a modified homography calculation. Utilising three-dimensional detection of the pen's pose several applications are possible, e.g. ergonomic human-computer interfaces in 6D, image mosaicing applications or devices for handwriting input.
DDC Class
004: Informatik
600: Technik
More Funding Information
This work has been supported by Philips Semiconductors Hamburg, Germany.