TY - GEN
T1 - Visual and inertial sensor fusion for mobile X-ray detector tracking
T2 - 18th ACM Conference on Embedded Networked Sensor Systems, SenSys 2020
AU - Zhao, Yang
AU - Tkaczyk, Eric
AU - Pan, Feng
N1 - Publisher Copyright:
© 2020 ACM.
PY - 2020/11/16
Y1 - 2020/11/16
N2 - Robust 3D pose tracking of an object is a critical technique for various mobile sensing applications. Computer vision-based pose tracking method provides a cost-effective solution, but it is sensitive to occlusion and illumination change issues. In this work, we propose a novel visual-inertial sensor fusion framework and demonstrate the real-time implementation of a tightly-coupled sensor fusion algorithm: inertial perspective-n-point (IPNP) algorithm. With measurements from an inertial measurement unit (IMU), the prototype system only needs to detect two keypoints to track all six degrees of freedom of a planar object, e.g., a mobile X-ray detector, a 50% reduction on required number of keypoints, compared with the vision-based perspective-n-point algorithm.
AB - Robust 3D pose tracking of an object is a critical technique for various mobile sensing applications. Computer vision-based pose tracking method provides a cost-effective solution, but it is sensitive to occlusion and illumination change issues. In this work, we propose a novel visual-inertial sensor fusion framework and demonstrate the real-time implementation of a tightly-coupled sensor fusion algorithm: inertial perspective-n-point (IPNP) algorithm. With measurements from an inertial measurement unit (IMU), the prototype system only needs to detect two keypoints to track all six degrees of freedom of a planar object, e.g., a mobile X-ray detector, a 50% reduction on required number of keypoints, compared with the vision-based perspective-n-point algorithm.
KW - mobile sensing
KW - pose estimation
KW - sensor fusion
UR - https://www.scopus.com/pages/publications/85097550110
U2 - 10.1145/3384419.3430435
DO - 10.1145/3384419.3430435
M3 - 会议稿件
AN - SCOPUS:85097550110
T3 - SenSys 2020 - Proceedings of the 2020 18th ACM Conference on Embedded Networked Sensor Systems
SP - 643
EP - 644
BT - SenSys 2020 - Proceedings of the 2020 18th ACM Conference on Embedded Networked Sensor Systems
PB - Association for Computing Machinery, Inc
Y2 - 16 November 2020 through 19 November 2020
ER -