Integration of Vision and Inertial Sensing PhD 2003

1
Integration ofVision and Inertial SensingPhD
2003 2007
Human inertial sensor The vestibular system
Within the inner ear, the vestibular system
measures tilt and angular acceleration
Independent Motion Segmentation

• Swinging pendulum sequence

• Background subtraction

• Quantise registered point cloud to voxel space
  and accumulate occupancy votes for all frames
• Threshold to obtain background voxels (apply
  thinning and growing transformation for noise
  filtering)
• Intersect current frame voxels with complement of
  background voxels to have voxels from moving
  objects

• Optical flow consistency segmentation

• Image optical flow (LK)
• Estimate optical flow from3D data and
  reconstructed camera motion assuming static scene
• Subtract and threshold to segment
  independentmotion

• selected publications
• Jorge Lobo and Jorge Dias, "Relative Pose
  Calibration Between Visual and Inertial Sensors",
  International Journal of Robotics Research,
  Special InerVis Issue, in press.
• Peter Corke, Jorge Lobo and Jorge Dias, "An
  introduction to inertial and visual sensing",
  International Journal of Robotics Research,
  Special InerVis Issue, in press.
• Luiz G. B. Mirisola, Jorge Lobo, and Jorge Dias,
  "Stereo Vision 3D Map Registration for Airships
  using Vision-Inertial Sensing", In The 12th
  IASTED Int. Conf. on Robotics and Applications,
  Honolulu, USA, August 2006.
• Jorge Lobo, João Filipe Ferreira and Jorge Dias,
  "Bioinspired Visuo-vestibular Artificial
  Perception System for Independent Motion
  Segmentation", In Second Inernational Cognitive
  Vision Workshop, ECCV 9th European Conference on
  Computer Vision, Graz, Austria, May 2006.
• Jorge Lobo and Jorge Dias, "Relative Pose
  Calibration Between Visual and Inertial Sensors",
  Proceedings of the ICRA 2005 Workshop on
  Integration of Vision and Inertial Sensors - 2nd
  InerVis, Barcelona, Spain, April 18, 2005.
• Jorge Lobo, Jorge Dias , Inertial Sensed
  Ego-motion for 3D Vision, in Journal of Robotic
  Systems Volume 21, Issue 1, pp. 3-12, January
  2004.
• Jorge Lobo and Jorge Dias, Vision and Inertial
  Sensor Cooperation, Using Gravity as a Vertical
  Reference, in IEEE Transactions on Pattern
  Analysis and Machine Intelligence, PAMI, 25(12),
  pp. 1597-1608, December 2003.
• Jorge Lobo, Carlos Queiroz, Jorge Dias, World
  Feature Detection and Mapping using Stereovision
  and Inertial Sensors, in Robotics and Autonomous
  Systems, Elsevier Science, vol. 44, Issue 1, pp.
  6981, July 2003.

Contact Person Jorge Lobo Email jlobo_at_isr.uc.pt