Non-deceiving features in fused optical flow gyroscopes

László Kundra, P. Ekler
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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.
熔光流陀螺仪的非欺骗特性
在移动电话中发现的标准陀螺仪往往在输出角速率上有偏差。如今,这些手机还配备了高分辨率相机和多媒体处理器,能够从拍摄的图像中计算光流。为了降低陀螺仪的偏置,从而导致较小的漂移积分角,基于相机的光流值可以帮助常规陀螺仪值产生稳健的输出。本文提出了一种融合光流角速率与陀螺仪输出的自适应算法,以消除相机视场内运动物体对相机图像产生的欺骗性跟踪特征。测量数据是用机器人手臂和安卓手机记录下来的。在MATLAB中进行了进一步的仿真测试,以研究该算法的局限性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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