Accurate depth estimation from a sequence of monocular images supported by proprioceptive sensors

P. Davidson, J. P. Raunio, R. Piché

    Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

    1 Citation (Scopus)

    Abstract

    This paper describes an extended Kalman filter based algorithm for fusion of monocular vision measurements, inertial rate sensor measurements, and camera motion. The motion of the camera between successive images generates a baseline for range computations by triangulation. The recursive estimation algorithm is based on extended Kalman filtering. The depth estimation accuracy is strongly affected by mutual observer and feature point geometry, measurement accuracy of observer motion parameters and line of sight to a feature point. The simulation study investigates how the estimation accuracy is affected by the following parameters: linear and angular velocity measurement errors, camera noise, and observer path. These results draw requirements to the instrumentation and observation scenarios. It was found that under favorable conditions the error in distance estimation does not exceed 2% of the distance to a feature point.

    Original languageEnglish
    Title of host publication23rd Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2016 - Proceedings
    Pages249-257
    Number of pages9
    ISBN (Electronic)9785919950370
    Publication statusPublished - 2016
    Publication typeA4 Article in a conference publication
    EventSAINT PETERSBURG INTERNATIONAL CONFERENCE ON INTEGRATED NAVIGATION SYSTEMS -
    Duration: 1 Jan 1900 → …

    Conference

    ConferenceSAINT PETERSBURG INTERNATIONAL CONFERENCE ON INTEGRATED NAVIGATION SYSTEMS
    Period1/01/00 → …

    Keywords

    • Computer vision
    • Gyroscope
    • IMU
    • Odometer
    • Structure from motion

    Publication forum classification

    • Publication forum level 0

    ASJC Scopus subject areas

    • Computer Networks and Communications
    • Signal Processing
    • Electrical and Electronic Engineering
    • Information Systems

    Fingerprint Dive into the research topics of 'Accurate depth estimation from a sequence of monocular images supported by proprioceptive sensors'. Together they form a unique fingerprint.

    Cite this