Departmental Papers (CIS)

Date of this Version

December 2001

Document Type

Conference Paper


Copyright 2001 IEEE. Reprinted from Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2001), Volume 2, pages II-732 - II-737.
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This paper describes an approach to estimating the trajectory of a moving camera based on the measurements acquired with an inertial sensor and estimates obtained by applying a structure from motion algorithm to a small set of keyframes in the video sequence. The problem is formulated as an offline trajectory fitting task rather than an online integration problem. This approach avoids many of the issues usually associated with inertial estimation schemes. One of the main advantages of the proposed technique is that it can be applied in situations where approaches based on feature tracking would have significant difficulties. Results obtained by applying the procedure to extended sequences acquired with both conventional and omnidirectional cameras are presented.



Date Posted: 24 November 2004

This document has been peer reviewed.