Adaptive Absolute Ego-Motion Estimation Using Wearable Visual-Inertial Sensors for Indoor Positioning.

ABSTRACT: This paper proposes an adaptive absolute ego-motion estimation method using wearable visual-inertial sensors for indoor positioning. We introduce a wearable visual-inertial device to estimate not only the camera ego-motion, but also the 3D motion of the moving object in dynamic environments. Firstly, a novel method dynamic scene segmentation is proposed using two visual geometry constraints with the help of inertial sensors. Moreover, this paper introduces a concept of "virtual camera" to consider the motion area related to each moving object as if a static object were viewed by a "virtual camera". We therefore derive the 3D moving object's motion from the motions for the real and virtual camera because the virtual camera's motion is actually the combined motion of both the real camera and

SUBMITTER: Tian Y 

PROVIDER: S-EPMC6187464 | biostudies-literature | 2018 Mar

REPOSITORIES: biostudies-literature