{"title":"Non-deceiving features in fused optical flow gyroscopes","authors":"László Kundra, P. Ekler","doi":"10.1109/SAMI.2014.6822377","DOIUrl":null,"url":null,"abstract":"Standard gyroscopes found in mobile phones tend to have bias in output angular rate. Nowadays these mobiles are also equipped with high resolution cameras and multimedia-ready processors capable to calculate optical flow from shot images. In order to lower the gyroscope bias, thus leading to a less drifting integrated angle, camera based optical flow values can aid regular gyroscope values to produce a robust output. In this paper an adaptive algorithm is presented to fuse optical flow angular rates with gyroscope output, in a way to eliminate deceiving tracked features on camera images, caused by moving object in the field of view of the camera. Measurements were recorded with a robotic arm using an Android phone. Further simulations were also tested in MATLAB to investigate the limits of this algorithm.","PeriodicalId":441172,"journal":{"name":"2014 IEEE 12th International Symposium on Applied Machine Intelligence and Informatics (SAMI)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 IEEE 12th International Symposium on Applied Machine Intelligence and Informatics (SAMI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SAMI.2014.6822377","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
Standard gyroscopes found in mobile phones tend to have bias in output angular rate. Nowadays these mobiles are also equipped with high resolution cameras and multimedia-ready processors capable to calculate optical flow from shot images. In order to lower the gyroscope bias, thus leading to a less drifting integrated angle, camera based optical flow values can aid regular gyroscope values to produce a robust output. In this paper an adaptive algorithm is presented to fuse optical flow angular rates with gyroscope output, in a way to eliminate deceiving tracked features on camera images, caused by moving object in the field of view of the camera. Measurements were recorded with a robotic arm using an Android phone. Further simulations were also tested in MATLAB to investigate the limits of this algorithm.