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Volume 26 Issue 6 - Publication Date: 1 June 2007
 
An Introduction to Inertial and Visual Sensing
 
P. Corke - CSIRO ICT Centre Brisbane, Australia, J. Lobo, and J. Dias - Institute of Systems and Robotics University of Coimbra, Portugal
 
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. We discuss the complementarity of these sensors, describe some fundamental approaches to fusing their outputs and survey the field.
 
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