Efficient inertially aided visual odometry towards mobile augmented reality

Download

index.pdf

Date

2013

Author

Aksoy, Yağız

Metadata

Show full item record

Item Usage Stats

175
views

154
downloads

With the increase in the number and computational power of commercial mobile devices like smart phones and tablet computers, augmented reality applications are gaining more and more volume. In order to augment virtual objects effectively in real scenes, pose of the camera should be estimated with high precision and speed. Today, most of the mobile devices feature cameras and inertial measurement units which carry information on change in position and attitude of the camera. In this thesis, utilization of inertial sensors on mobile devices in aiding visual pose estimation is studied. Error characteristics of the inertial sensors on the utilized mobile device are analyzed. Gyroscope readings are utilized for aiding 2D feature tracking while accelerometer readings are used to help create a sparse 3D map of features later to be used for visual pose estimation. Metric velocity estimation is formulated using inertial readings and observations of a single 2D feature. Detailed formulations of uncertainties on all the estimated variables are provided. Finally, a novel, lightweight filter, which is capable of estimating the pose of the camera together with the metric scale, is proposed. The proposed filter runs without any heuristics needed for covariance propagation, which enables it to be used in different devices with different sensor characteristics without any modifications. Sensors with poor noise characteristics are successfully utilized to aid the visual pose estimation.

Subject Keywords

Image processing, Imaging systems, Mobile communication systems., Inertial navigation., Augmented reality.

URI

http://etd.lib.metu.edu.tr/upload/12616322/index.pdf
https://hdl.handle.net/11511/23035

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

An Efficient graph-theoretical approach for interactive mobile image and video segmentation Şener, Ozan; Alatan, Abdullah Aydın; Department of Electrical and Electronics Engineering (2013) Over the past few years, processing of visual information by mobile devices getting more affordable due to the advances in mobile technologies. Efficient and accurate segmentation of objects from an image or video leads many interesting multimedia applications. In this study, we address interactive image and video segmentation on mobile devices. We first propose a novel interaction methodology leading better satisfaction based on subjective user evaluation. Due to small screens of the mobile devices, error ...
A novel user activity prediction model for context aware computing systems Peker, Serhat; Koçyiğit, Altan; Department of Information Systems (2011) In the last decade, with the extensive use of mobile electronic and wireless communication devices, there is a growing need for context aware applications and many pervasive computing applications have become integral parts of our daily lives. Context aware recommender systems are one of the popular ones in this area. Such systems surround the users and integrate with the environment; hence, they are aware of the users' context and use that information to deliver personalized recommendations about everyday ...
UNCERTAINTY MODELING FOR EFFICIENT VISUAL ODOMETRY VIA INERTIAL SENSORS ON MOBILE DEVICES AKSOY, Yagiz; Alatan, Abdullah Aydın (2014-10-30) Most of the mobile applications require efficient and precise computation of the device pose, and almost every mobile device has inertial sensors already equipped together with a camera. This fact makes sensor fusion quite attractive for increasing efficiency during pose tracking. However, the state-of-the-art fusion algorithms have a major shortcoming: lack of well-defined uncertainty introduced to the system during the prediction stage of the fusion filters. Such a drawback results in determining covarian...
Methods for location prediction of mobile phone users Keleş, İlkcan; Toroslu, İsmail Hakkı; Department of Computer Engineering (2014) Due to the increasing use of mobile phones and their increasing capabilities, huge amount of usage and location data can be collected. Location prediction is an important task for mobile phone operators and smart city administrations to provide better services and recommendations. In this work, we have investigated several approaches for location prediction problem including clustering, classification and sequential pattern mining. We propose a sequence mining based approach for location prediction of mobil...
GUI testing of android applications: a systematic mapping Aydın, Muzaffer; Betin Can, Aysu; Garousi, Vahid; Department of Information Systems (2014) Popularity of mobile devices is increasing rapidly all around the world. These devices can be used on various systems which are commonly used by the society. These systems are predicted to overtake desktop platform's popularity in the near future. Therefore the quality of mobile applications has vital importance. High quality applications can only be developed with good testing environments. Considering that multi-featured mobile applications have complex user interfaces, we decided to focus on graphical us...

Citation Formats

Y. Aksoy, “Efficient inertially aided visual odometry towards mobile augmented reality,” M.S. - Master of Science, Middle East Technical University, 2013.