Гироскоп на основе монокулярной камеры
Abstract
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.
About the Authors
В. Хуттунен
Технический университет (г. Тампере)
Finland
Finland
Р. Пише
Технический университет (г. Тампере)
Finland
Finland
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Review
For citations:
, . Giroskopiya i Navigatsiya / Gyroscopy and Navigation. 2012;20(2):69-81. (In Russ.)
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