Towards real-time camera egomotion estimation and three-dimensional scene acquisition from monocular image streams

The three-dimensional reconstruction of rigid scenes from monocular image streams is based on the former calculation of the relative camera pose between at least two successive image frames. This egomotion estimation has not been solved satisfactorily by relying only on corresponding image features, such as points or lines, due to noise, critical motion patterns or special point configurations. This paper describes a framework for incorporating inertial measurements from gyroscopes, accelerometers and magnetometers to achieve an improved performance of the estimation of camera motion and scene structure in terms of accuracy, robustness and computational costs. The framework is designed as a dual-track system containing a visual and a inertial route.