DocumentCode :
1809899
Title :
A high-performance tracking system based on camera and IMU
Author :
Nyqvist, Hanna ; Gustafsson, Fredrik
Author_Institution :
Dept. of Electr. Eng., Linkoping Univ., Linkoping, Sweden
fYear :
2013
fDate :
9-12 July 2013
Firstpage :
2065
Lastpage :
2072
Abstract :
We consider an indoor tracking system consisting of an inertial measurement unit (IMU) and a camera that detects markers in the environment. There are many camera based tracking systems described in literature and available commercially, and a few of them also has support from IMU. These are based on the best-effort principle, where the performance varies depending on the situation. In contrast to this, we start with a specification of the system performance, and the design is based on an information theoretic approach, where specific user scenarios are defined. Precise models for the camera and IMU are derived for a fusion filter, and the theoretical Cramér-Rao lower bound and the Kalman filter performance are evaluated. In this study, we focus on examining the camera quality versus the marker density needed to get at least a one mm and one degree accuracy in tracking performance.
Keywords :
Kalman filters; object tracking; sensor fusion; Cramér-Rao lower bound; IMU; Kalman filter; camera based tracking system; camera quality; fusion filter; high-performance tracking system; indoor tracking system; inertial measurement unit; information theoretic approach; marker density; Accuracy; Cameras; Earth; Lenses; Noise; Optical imaging; Optical sensors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Information Fusion (FUSION), 2013 16th International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-605-86311-1-3
Type :
conf
Filename :
6641260
Link To Document :
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