Efficient camera motion and 3D recovery using an inertial sensor

Author

Labrie, Martin ; Hébert, Patrick

Author_Institution

Laval Univ., Quebec

fYear

2007

fDate

28-30 May 2007

Firstpage

55

Lastpage

62

Abstract

This paper presents a system for 3D reconstruction using a camera combined with an inertial sensor. The system mainly exploits the orientation obtained from the inertial sensor in order to accelerate and improve the matching process between wide baseline images. The orientation further contributes to incremental 3D reconstruction of a set of feature points from linear equation systems. The processing can be performed online while using consecutive groups of three images overlapping each other. Classic or incremental bundle adjustment is applied to improve the quality of the model. Test validation has been performed on object and camera centric sequences.

Keywords

cameras; computer vision; feature extraction; image matching; image motion analysis; image reconstruction; image sequences; stereo image processing; 3D recovery; camera centric sequences; camera motion; feature points; image matching; incremental 3D reconstruction; incremental bundle adjustment; inertial sensor; linear equation systems; object centric sequences; wide baseline images; Acceleration; Cameras; Computer vision; Equations; Image reconstruction; Image sensors; Laboratories; Robot vision systems; Sensor systems; Video sequences;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer and Robot Vision, 2007. CRV '07. Fourth Canadian Conference on

Conference_Location

Montreal, Que.

Print_ISBN

0-7695-2786-8

Type

conf

DOI

10.1109/CRV.2007.23

Filename

4228523