IMU-assisted monocular visual odometry including the human walking model for wearable applications

Jwu-Sheng Hu, Chin Yuan Tseng, Ming Yuan Chen, Kuan Chun Sun

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

In this paper, we present a novel approach for monocular visual odometry combined with an inertial measurement unit to estimate the human walking trajectory. The scale factor is computed from the walking speed estimation derived by the kinematic model of human walking. This model not only keeps the important characteristic in biped rolling-foot model, but also makes the speed estimation feasible using human body acceleration. A wearable and calibrated IMU-Camera device is made to mount on the center of human's waist for experimental verification. With the human walking speed and gyroscope measurement, an Unscented Kalman filter is implemented to estimate the current scale factor and refine the attitude of the camera. Experiments in an indoor environment are conducted to show the effectiveness of the proposed method.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages2894-2899
Number of pages6
DOIs
StatePublished - 14 Nov 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 6 May 201310 May 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period6/05/1310/05/13

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