Robust orientation estimate via inertial guided visual sample consensus

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	Robust orientation estimate via inertial guided visual sample consensus
	Zhang YL(张吟龙); Li Y(李杨); Liang W(梁炜); Tan JD(谈金东); An HB(安海博)
刊名	Personal and Ubiquitous Computing
	2018
卷号	22 期号:2 页码:259–274
关键词	Orientation estimate Wearable sensors Inertial measurement unit Monocular camera Sample and consensus
ISSN号	1617-4909
通讯作者	Liang W(梁炜) ; Tan JD(谈金东)
产权排序	1
中文摘要	This paper presents a novel orientation estimate approach named inertial guided visual sample consensus (IGVSAC). This method is intentionally designed for capturing the orientation of human body joints in free-living environments. Unlike the traditional visual-based orientation estimation methods, where outliers among putative image-pair correspondences are removed based on hypothesize-and-verify models such as the computationally costly RANSAC, our approach novelly exploits prior motion information (i.e., rotation and translation) deduced from the quick-response inertial measurement unit (IMU) as the initial body pose to assist camera in removing hidden outliers. In addition, our IGVSAC algorithm is able to ensure estimation accuracy even in the presence of a large quantity of outliers, thanks to its capability of rejecting apparent mismatches. The estimated orientation from the visual sensor is, in turn, able to correct long-term IMU drifts. We conducted extensive experiments to verify the effectiveness and robustness of our IGVSAC algorithm. Comparisons with highly accurate VICON and OptiTrack Motion Tracking Systems prove that our orientation estimate system is quite suitable for capturing human body joints.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Computer Science, Information Systems ; Telecommunications
研究领域[WOS]	Computer Science ; Telecommunications
关键词[WOS]	TRACKING ; SENSORS ; CAMERA ; SYSTEM
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000429358200004
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/20808]
专题	沈阳自动化研究所_工业控制网络与系统研究室
作者单位	1.Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Konxville, TN, 37996, United States
推荐引用方式 GB/T 7714	Zhang YL,Li Y,Liang W,et al. Robust orientation estimate via inertial guided visual sample consensus[J]. Personal and Ubiquitous Computing,2018,22(2):259–274.
APA	Zhang YL,Li Y,Liang W,Tan JD,&An HB.(2018).Robust orientation estimate via inertial guided visual sample consensus.Personal and Ubiquitous Computing,22(2),259–274.
MLA	Zhang YL,et al."Robust orientation estimate via inertial guided visual sample consensus".Personal and Ubiquitous Computing 22.2(2018):259–274.