Inertial Structure From Motion with Autocalibration

  title={Inertial Structure From Motion with Autocalibration},
  author={Eagle Jones and Andrea Vedaldi and Stefano Soatto},
We present a technique to fuse inertial and visual information for real-time navigation applications. The combined model exhibits bounded bias, autocalibrates the camera-to-IMU transformation (eliminating the need for precise measurement or construction), and updates an estimate of the gravity vector. We analyze of the observability of the combined system, and discuss the implementation of a filter to estimate ego-motion from inertial and vision measurements as part of an integrated sensor… CONTINUE READING
Highly Cited
This paper has 47 citations. REVIEW CITATIONS

From This Paper

Figures, tables, and topics from this paper.

Explore Further: Topics Discussed in This Paper


Publications citing this paper.
Showing 1-10 of 33 extracted citations

Inertial-based scale estimation for structure from motion on mobile devices

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) • 2017
View 2 Excerpts

Joint radar alignment and odometry calibration

2015 18th International Conference on Information Fusion (Fusion) • 2015
View 2 Excerpts

Observability, identifiability and sensitivity of vision-aided inertial navigation

2015 IEEE International Conference on Robotics and Automation (ICRA) • 2015
View 1 Excerpt


Publications referenced by this paper.
Showing 1-10 of 20 references

Integrated visual and inertial navigation and calibration

E. Jones, A. Vedaldi, S. Soatto
Technical report, UCLA CSD Technical Report, • 2008
View 3 Excerpts
Highly Influenced

KALMANSAC: robust filtering by consensus

Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1 • 2005
View 1 Excerpt

Nonlinear Control Systems: Analysis and Design

IEEE Transactions on Automatic Control • 2004
View 1 Excerpt

An invitation to 3D vision, from images to models

Y. Ma, S. Soatto, J. Kosecka, S. Sastry
View 1 Excerpt

Preemptive RANSAC for live structure and motion estimation

Machine Vision and Applications • 2003
View 1 Excerpt

Robust structure from motion estimation using inertial data.

Journal of the Optical Society of America. A, Optics, image science, and vision • 2001
View 1 Excerpt

Similar Papers

Loading similar papers…