Inertial-based scale estimation for structure from motion on mobile devices

Janne Mustaniemi, Juho Kannala, Simo Särkkä, Jiri Matas, Janne Heikkila

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

9 Citations (Scopus)

Abstract

Structure from motion algorithms have an inherent limitation that the reconstruction can only be determined up to the unknown scale factor. Modern mobile devices are equipped with an inertial measurement unit (IMU), which can be used for estimating the scale of the reconstruction. We propose a method that recovers the metric scale given inertial measurements and camera poses. In the process, we also perform a temporal and spatial alignment of the camera and the IMU. Therefore, our solution can be easily combined with any existing visual reconstruction software. The method can cope with noisy camera pose estimates, typically caused by motion blur or rolling shutter artifacts, via utilizing a Rauch-Tung-Striebel (RTS) smoother. Furthermore, the scale estimation is performed in the frequency domain, which provides more robustness to inaccurate sensor time stamps and noisy IMU samples than the previously used time domain representation. In contrast to previous methods, our approach has no parameters that need to be tuned for achieving a good performance. In the experiments, we show that the algorithm outperforms the state-of-the-art in both accuracy and convergence speed of the scale estimate. The accuracy of the scale is around 1% from the ground truth depending on the recording. We also demonstrate that our method can improve the scale accuracy of the Project Tango's build-in motion tracking.
Original languageEnglish
Title of host publication2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
EditorsHong Zhang, Richard Vaughan
PublisherIEEE
Pages4394-4401
ISBN (Electronic)978-1-5386-2682-5
DOIs
Publication statusPublished - 2017
MoE publication typeA4 Article in a conference publication
EventIEEE/RSJ International Conference on Intelligent Robots and Systems - Vancouver, Canada
Duration: 24 Sep 201728 Sep 2017

Publication series

NameProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS
CountryCanada
CityVancouver
Period24/09/201728/09/2017

Keywords

  • Cameras
  • Visualization
  • Image reconstruction
  • Estimation
  • Hardware
  • Angular velocity

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  • Cite this

    Mustaniemi, J., Kannala, J., Särkkä, S., Matas, J., & Heikkila, J. (2017). Inertial-based scale estimation for structure from motion on mobile devices. In H. Zhang, & R. Vaughan (Eds.), 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4394-4401). (Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems). IEEE. https://doi.org/10.1109/IROS.2017.8206303