A low-cost hybrid SDINS/multi-camera vision system for a hand-held tool positioning

This paper concerns the development of a smart sensory system based on the low-cost sensors for tracking a handheld moving device within a required accuracy range over extended periods of time. A low cost hybrid strapdown inertial navigation system (SDINS)/multi-camera vision system with the integration of the Extended Kalman Filter (EKF) is designed to determine the 3D position of the tool tip. The proposed system computes accurate position of the object without relying on the knowledge of the motion, and purely based on the motion it experiences.