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Real-time hybrid pose estimation from vision and inertial data
Publikationstyp
Conference Paper
Date Issued
2004-09-27
Sprache
English
Author(s)
Institut
Start Page
480
End Page
486
Citation
Proceedings - 1st Canadian Conference on Computer and Robot Vision: 480-486 (2004-09-27)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
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.