An Introduction to Inertial and Visual Sensing
Top Cited Papers
- 1 June 2007
- journal article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 26 (6), 519-535
- https://doi.org/10.1177/0278364907079279
Abstract
In this paper we present a tutorial introduction to two important senses for biological and robotic systems — inertial and visual perception. We discuss the fundamentals of these two sensing modalities from a biological and an engineering perspective. Digital camera chips and micro-machined accelerometers and gyroscopes are now commodities, and when combined with today's available computing can provide robust estimates of self-motion as well 3D scene structure, without external infrastructure. We discuss the complementarity of these sensors, describe some fundamental approaches to fusing their outputs and survey the field.This publication has 51 references indexed in Scilit:
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