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This thesis deals with estimating position and orientation in real-time, using measurements from vision and inertial sensors. A system has been developed to solve this problem in unprepared environments, assuming that a map or scene model is available. Compared to 'camera-only' systems, the combination of the complementary sensors yields an accurate and robust system which can handle periods with uninformative or no vision data and reduces the need for high frequency vision updates.
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Pose estimation and calibration algorithms for vision and inertial sensors
2008, Department of Electrical Engineering, Linko ping University
in English
9173938629 9789173938624
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Licentiatavhandling Linko ping : Linko pings universitet, 2008.
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