Selected Topics in Inertial and Visual Sensor Fusion: Calibration, Observability Analysis and Applications (2014)
Abstract / truncated to 115 words
Recent improvements in the development of inertial and visual sensors allow building small, lightweight, and cheap motion capture systems, which are becoming a standard feature of smartphones and personal digital assistants. This dissertation describes developments of new motion sensing strategies using the inertial and inertial-visual sensors. The thesis contributions are presented in two parts. The first part focuses mainly on the use of inertial measurement units. First, the problem of sensor calibration is addressed and a low-cost and accurate method to calibrate the accelerometer cluster of this unit is proposed. The method is based on the maximum likelihood estimation framework, which results in a minimum variance unbiased estimator.Then using the inertial measurement unit, a probabilistic ...
visual inertial navigation – inertial measurement unit – calibration – observability analysis – motion estimation
Information
- Author
- Panahandeh Ghazaleh
- Institution
- KTH Royal Institute of Technology
- Supervisors
- Publication Year
- 2014
- Upload Date
- March 23, 2014
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