For weapon cueing and Head-Mounted Display (HMD), it is essential to continuously estimate the motion of the helmet. The problem of estimating and predicting the position and orientation of the helmet is approached by fusing measurements from inertial sensors and stereo vision system. The sensor fusion approach in this paper is based on nonlinear filtering, especially expended Kalman filter(EKF). To reduce the computation time and improve the performance in vision processing, we separate the structure estimation and motion estimation. The structure estimation tracks the features which are the part of helmet model structure in the scene and the motion estimation filter estimates the position and orientation of the helmet. This algorithm is tested with using synthetic and real data. And the results show that the result of sensor fusion is successful.
@article{ HGJHC0_2010_v11n1_31}
,title={Motion and Structure Estimation Using Fusion of Inertial and Vision Data for Helmet Tracker}
,volume={1}
, url={http://dx.doi.org/10.5139/IJASS.2010.11.1.031}, DOI={10.5139/IJASS.2010.11.1.031}
, number= {1}
, journal={International Journal of Aeronautical and Space Sciences}
, publisher={The Korean Society for Aeronautical & Space Sciences}
, author={Se-Jong, Heo
and
Ok-Shik, Shin
and
Chan-Gook, Park}
, year={2010}
, month={Mar}
TY - JOUR
T2 - International Journal of Aeronautical and Space Sciences
AU - Se-Jong, Heo
AU - Ok-Shik, Shin
AU - Chan-Gook, Park
SN - 2093-274X
TI - Motion and Structure Estimation Using Fusion of Inertial and Vision Data for Helmet Tracker
VL - 11
PB - The Korean Society for Aeronautical & Space Sciences
DO - 10.5139/IJASS.2010.11.1.031
PY - 2010
UR - http://dx.doi.org/10.5139/IJASS.2010.11.1.031
ER -
Se-Jong, H.
,
Ok-Shik, S.
,
&
Chan-Gook, P.
( 2010).
Motion and Structure Estimation Using Fusion of Inertial and Vision Data for Helmet Tracker.
International Journal of Aeronautical and Space Sciences,
11
(1)
The Korean Society for Aeronautical & Space Sciences.
doi:10.5139/IJASS.2010.11.1.031
Se-Jong, H
,
Ok-Shik, S
,
&
Chan-Gook, P
2010,
Motion and Structure Estimation Using Fusion of Inertial and Vision Data for Helmet Tracker,
International Journal of Aeronautical and Space Sciences,
vol. 1,
no. 1,
Retrieved from http://dx.doi.org/10.5139/IJASS.2010.11.1.031
[1]
H Se-Jong
,
S Ok-Shik
,
and
P Chan-Gook
,
“Motion and Structure Estimation Using Fusion of Inertial and Vision Data for Helmet Tracker”,
International Journal of Aeronautical and Space Sciences,
vol. 1,
no. 1,
Mar
2010.
Se-Jong, Heo
and
,
Ok-Shik, Shin
and
,
Chan-Gook, Park
and
,
“Motion and Structure Estimation Using Fusion of Inertial and Vision Data for Helmet Tracker”
International Journal of Aeronautical and Space Sciences,
1.
1
2010:
Se-Jong, H
,
Ok-Shik, S
,
Chan-Gook, P
Motion and Structure Estimation Using Fusion of Inertial and Vision Data for Helmet Tracker.
International Journal of Aeronautical and Space Sciences
[Internet].
2010.
Mar ;
1
(1)
Available from http://dx.doi.org/10.5139/IJASS.2010.11.1.031
Se-Jong, Heo
,
Ok-Shik, Shin
,
and
Chan-Gook, Park
,
“Motion and Structure Estimation Using Fusion of Inertial and Vision Data for Helmet Tracker.”
International Journal of Aeronautical and Space Sciences
1
no.1
()
Mar,
2010):
http://dx.doi.org/10.5139/IJASS.2010.11.1.031
