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Motion and Structure Estimation Using Fusion of Inertial and Vision Data for Helmet Tracker

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Authors
Heo, Sejong; Shin, Ok Shik; Park, Chan Gook
Issue Date
2010-03
Publisher
Korean Society for Aeronautical & Space Sciences = 한국항공우주학회
Citation
International Journal of Aeronautical & Space Sciences, Vol. 11, No. 1, 2010, pp. 31-40
Keywords
Sensor FusionMotion and Structure EstimationHelmet Tracker
Abstract
For weapon cueing and Head-Mounted Display (HMD), it is essential to continuously estimate
the motion of the helmet. The problem of estimating and predicting the position and orientation of the
helmet is approached by fusing measurements from inertial sensors and stereo vision system. The
sensor fusion approach in this paper is based on nonlinear filtering, especially expended Kalman
filter(EKF). To reduce the computation time and improve the performance in vision processing, we
separate the structure estimation and motion estimation. The structure estimation tracks the features
which are the part of helmet model structure in the scene and the motion estimation filter estimates
the position and orientation of the helmet. This algorithm is tested with using synthetic and real data.
And the results show that the result of sensor fusion is successful.
ISSN
2093-274x (Print)
2093-2480 (Online)
Language
English
URI
https://hdl.handle.net/10371/69236
DOI
https://doi.org/10.5139/IJASS.2010. 11. 1.031
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College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Journal Papers (저널논문_기계항공공학부)
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