Inertial-aided Continuous-Time Structure from Motion in Practice
Hannes Ovrén, Per-Erik ForssénSSBA18
Proceedings of SSBA 2018 IAPR
March 2018
Abstract
Continuous-time structure from motion is a generalization of structure from motion where the estimated camera path is continuous instead of discrete. A continuous formulation allows the use of rolling shutter cameras, and simplifies incorporation of measurements from inertial sensors. This paper presents a method to correctly weight the inertial residuals in inertial-aided structure from motion, when using trajectories based on splines. We also present a method to automatically set the spline knot spacing, based on the concept of a quality measure. Our experiments show that the residual weighting is crucial for successful reconstructions on real data. We also highlight two benefits of adding inertial measurements to a structure from motion problem: a reduced need of initialization, and metric scale.
Full Paper
This paper is a preliminary version of the CVPR 2018 paper.
Bibtex entry
@InProceedings{ovren18b, author = {Hannes Ovr\'en and Per-Erik Forss\'en}, title = {Inertial-aided Continuous-Time Structure from Motion in Practice}, booktitle = {Proceedings of {SSBA} 2018 {IAPR}}, year = {2018}, month = {March}, organization = {{IAPR}}, note = {Non-reviewed workshop}, publisher = {{SSBA}} }
Per-Erik Forssén
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