gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya / Gyroscopy and Navigation0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»gyroscopy-539Research ArticleСтатьиГироскоп на основе монокулярной камерыХуттуненВ.

Хуттунен Вилли, студент 

ПишеР.

Пише Роберт, доктор наук, профессор 

Технический университет (г. Тампере)Finland2012050320262026981Copyright © Хуттунен В., Пише Р., 20262026Хуттунен В., Пише Р.Хуттунен В., Пише Р.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/539

Представлен метод определения трехмерной ориентации монокулярной камеры с использованием точек схождения перспективы (ТСП), обнаруженных в последовательностях изображений. Устойчивое обнаружение ТСП в реальном времени осуществляется с использованием стандартного метода выделения сегментов линий (СЛ) и адаптивного алгоритма RANSAC. ТСП и соответствующие им направления, обнаруженные в последовательных кадрах, связываются друг с другом для построения последовательности кватернионов ориентации, которая обрабатывается расширенным фильтром Калмана. Экспериментами с мобильным телефоном показано, что точность предложенного метода сопоставима с точностями методов, использующих механические датчики движения потребительского класса точности.

We present a method for tracking the 3-axis orientation of a monocular camera using orthogonal vanishing points detected in individual frames of a sequence of images. Ro-bust and real-time vanishing point detection is done using a standard line segment detection method and an adaptive RANSAC algorithm. Vanishing points and corresponding vanishing directions found in consecutive frames are associated with each other to produce a sequence of orientation quaternions, which is processed by an extended Kalman filter. Experiments with a consumer-level, handheld mobile device indicate that the accuracy of the proposed method is comparable with those of consumer-grade mechanical motion sensors.

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The authors declare that there are no conflicts of interest present.