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Fusion of visual odometry and inertial sensors using dual quaternions and stochastic cloning

Schwaab, Manuel and Romanovas, Michailas and Plaia, Davide and Schwarze, Tobias and Manoli, Yiannos (2016) Fusion of visual odometry and inertial sensors using dual quaternions and stochastic cloning. In: ieeexplore, 573 -580. http://ieeexplore.ieee.org. 19th International Conference on Information Fusion, 5.-8. Juli, Heidelberg, Deutschland.

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Official URL: http://ieeexplore.ieee.org/document/7527939/

Abstract

The article presents an approach where the visual odometry from the stereo camera is fused with the inertial measurements using an error-state extended Kalman filter. A simplified strapdown inertial mechanization is used to predict the orientation and position of the user while the measurements of the visual odometry are employed to reduce the fast position drift of a pure inertial approach. Within the work the relative orientation and position measurements are considered as a generalized displacement represented as a dual quaternion. Using the framework of stochastic cloning both the rotation and translation measurements are incorporated in a statistically consistent way including a proper treatment of the uncertainties of the previous estimates. An enhanced performance compared to classical dynamical models is obtained for a basic sensor hardware setup and demonstrated for several typical experimental data sets. The described sensor system is completely self-contained and can be used standalone for indoor or combined indoor/outdoor scenarios as well as in hybrid positioning systems.

Item URL in elib:https://elib.dlr.de/108705/
Document Type:Conference or Workshop Item (Speech)
Title:Fusion of visual odometry and inertial sensors using dual quaternions and stochastic cloning
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schwaab, Manuelhahn-schickard (hsg)UNSPECIFIED
Romanovas, Michailasmichailas.romanovas (at) dlr.deUNSPECIFIED
Plaia, Davidehahn-schickard-gesellschaftUNSPECIFIED
Schwarze, Tobiaskarlsruhe institute of technology (kit)UNSPECIFIED
Manoli, Yiannoshahn-schickard-gesellschaftUNSPECIFIED
Date:July 2016
Journal or Publication Title:ieeexplore
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:573 -580
Editors:
EditorsEmail
IEEE, IEEEIEEE
Publisher:http://ieeexplore.ieee.org
Status:Published
Keywords:Indoor Navigation, inertial, sensorfusion
Event Title:19th International Conference on Information Fusion
Event Location:Heidelberg, Deutschland
Event Type:international Conference
Event Dates:5.-8. Juli
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Automated Aids for Safe and Efficient Vessel Traffic Process (old)
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Ziebold, Ralf
Deposited On:02 Dec 2016 09:51
Last Modified:02 Dec 2016 09:51

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