Yazar
Özer, N., Erdem, Tanju, Ercan, Ali Özer, Eroğlu Erdem, Ç.
Basım Tarihi
2012
Basım Yeri
-
IEEE
Konu
Bayes methods, Kalman filters, Accelerometers, Cameras, Gyroscopes, Inertial systems, Nonlinear filters, Sensor fusion
Tür
Belge
Dil
Türkçe
Dijital
Evet
Yazma
Hayır
Kütüphane
Özyeğin Üniversitesi
Demirbaş Numarası
978-1-4673-0054-4
Kayıt Numarası
62c1abb0-3e06-4556-8830-8f5c2f812b06
Lokasyon
Electrical & Electronics Engineering, Computer Science
Tarih
2012
Notlar
Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Örnek Metin
It is well known in a Bayesian filtering framework, the use of inertial sensors such as accelerometers and gyroscopes improves 3D tracking performance compared to using camera measurements only. The performance improvement is more evident when the camera undergoes a high degree of motion. However, it is not well known whether the inertial sensors should be used as control inputs or as measurements. In this paper, we present the results of an extensive set of simulations comparing different combinations of using inertial sensors as control inputs or as measurements. We show that it is better use a gyroscope as a control input while an accelerometer can be used as a measurement or control input. We also derive and present the extended Kalman filter (EKF) equations for a specific case of fusing accelerometer and gyroscope data that has not been reported before.
DOI
10.1109/SIU.2012.6204725
