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Simulation Framework for a Visual-Inertial Navigation System

Irmisch, Patrick and Baumbach, Dirk and Ernst, Ines and Börner, Anko (2019) Simulation Framework for a Visual-Inertial Navigation System. In: 26th IEEE International Conference on Image Processing, ICIP 2019, pp. 1995-1999. IEEE. 26th IEEE International Conference on Image Processing (ICIP), 22.–25. Sep. 2019, Taipei, Taiwan. doi: 10.1109/ICIP.2019.8803187.

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Official URL: https://ieeexplore.ieee.org/document/8803187

Abstract

The ability to test methods based on simulated data is an important component in the development of intelligent localization systems at the present time. This includes the replication of realistic environments and sensors on the one hand. On the other hand, an implementation of a correct movement profile of the target mobile platform is required. This is complicated by the large variety of possible platform variants. We propose a method to transfer movement profiles that have been recorded in real world into a simulation environment. The associated modular simulation framework was designed especially, but not limiting, for the development of visual-inertial odometry of a handheld navigation system. We demonstrate the application of our pipeline through an experiment to determine the influence of motion blur on the visual odometry component.

Item URL in elib:https://elib.dlr.de/136776/
Document Type:Conference or Workshop Item (Poster)
Title:Simulation Framework for a Visual-Inertial Navigation System
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Irmisch, PatrickUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Baumbach, DirkUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ernst, InesUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Börner, AnkoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:2019
Journal or Publication Title:26th IEEE International Conference on Image Processing, ICIP 2019
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/ICIP.2019.8803187
Page Range:pp. 1995-1999
Publisher:IEEE
Status:Published
Keywords:visual-inertial odometry, simulation framework, motion profile, rendering, motion blur
Event Title:26th IEEE International Conference on Image Processing (ICIP)
Event Location:Taipei, Taiwan
Event Type:international Conference
Event Dates:22.–25. Sep. 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Earth Observation
DLR - Research area:Raumfahrt
DLR - Program:R EO - Earth Observation
DLR - Research theme (Project):R - Vorhaben Optische Sensorik - Theorie, Kalibration, Verifikation (old), R - Optical Technologies and Applications, V - NGC KoFiF (old)
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Optical Sensor Systems > Real-Time Data Processing
Deposited By: Baumbach, Dirk
Deposited On:26 Oct 2020 12:23
Last Modified:26 Oct 2020 12:23

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