| Volume 26 Issue 6 - Publication Date: 1 June 2007 |
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| Fast Ego-motion
Estimation with
Multi-rate Fusion of
Inertial and Vision |
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| L. Armesto, J. Tornero Dept. of Control Systems Engineering, Technical University of Valencia Camino de Vera, s/n 46022, Valencia, Spain, and M. Vincze Automation and Control Institute
Vienna University of Technology
Gusshausstr. 27.29/361 A-1040, Vienna, Austria |
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| This paper presents a tracking system for ego-motion estimation
which fuses vision and inertial measurements using EKF and UKF
(Extended and Unscented Kalman Filters), where a comparison of
their performance has been done. It also considers the multi-rate nature
of the sensors: inertial sensing is sampled at a fast sampling frequency
while the sampling frequency of vision is lower. the proposed
approach uses a constant linear acceleration model and constant angular
velocity model based on quaternions, which yields a non-linear
model for states and a linear model in measurement equations. Results
show that a significant improvement is obtained on the estimation
when fusing both measurements with respect to just vision or
just inertial measurements. It is also shown that the proposed system
can estimate fast-motions even when vision system fails. Moreover, a
study of the influence of the noise covariance is also performed, which
aims to select their appropriate values at the tuning process. The setup
is an end-effector mounted camera, which allow us to pre-define
basic rotational and translational motions for validating results. |
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