An Introduction to Inertial and Visual Sensing

  title={An Introduction to Inertial and Visual Sensing},
  author={P. Corke and J. Lobo and J. Dias},
  journal={The International Journal of Robotics Research},
  pages={519 - 535}
  • P. Corke, J. Lobo, J. Dias
  • Published 2007
  • Computer Science, Engineering
  • The International Journal of Robotics Research
  • In this paper we present a tutorial introduction to two important senses for biological and robotic systems — inertial and visual perception. We discuss the fundamentals of these two sensing modalities from a biological and an engineering perspective. Digital camera chips and micro-machined accelerometers and gyroscopes are now commodities, and when combined with today's available computing can provide robust estimates of self-motion as well 3D scene structure, without external infrastructure… CONTINUE READING
    A new calibration method for an inertial and visual sensing system
    • 5
    Modeling and Calibration of Inertial and Vision Sensors
    • 81
    • PDF
    Relative Pose Calibration Between Visual and Inertial Sensors
    • 240
    • PDF
    A Framework for Real-Time Scene Modelling based on Visual-Inertial Cues
    • 1
    • PDF
    Pose Estimation and Calibration Algorithms for Vision and Inertial Sensors
    • 47
    • Highly Influenced
    • PDF
    Accurate Human Navigation Using Wearable Monocular Visual and Inertial Sensors
    • 47
    • PDF
    Sensing and Control on the Sphere
    • 7


    Publications referenced by this paper.
    Vision and Inertial Sensor Cooperation Using Gravity as a Vertical Reference
    • 161
    • PDF
    Tightly integrated sensor fusion for robust visual tracking
    • 55
    Cooperation of the inertial and visual systems
    • 52
    Relative Pose Calibration Between Visual and Inertial Sensors
    • 240
    • PDF
    Inertial Sensed Ego-motion for 3D Vision
    • 38
    • PDF
    Relative position sensing by fusing monocular vision and inertial rate sensors
    • 85
    • PDF
    Calibration of Hybrid Vision / Inertial Tracking Systems *
    • 39
    Motion Estimation from Image and Inertial Measurements
    • 175
    • PDF
    Fusing Visual and Inertial Sensing to Recover Robot Ego-motion
    • 24
    • Highly Influential