Real-time Ego-motion Measurement with Stereo Camera & IMU

The Hong Kong University of Science and Technology
Department of Computer Science and Engineering

FYT Presentation and Demonstration

Title: "Real-time Ego-motion Measurement with Stereo Camera & IMU"

by

Miss SHI Jiahui

Abstract

We present a real-time ego-motion measurement system using fusion of a
stereo camera and an IMU (Inertial Measurement Unit). Measurement of
ego-motion is very important in the control and planning of autonomous
vehicles and robots. It is also a useful tool in 3D model reconstruction.
IMUs can do this job but they usually have bias and noise which can
accumulate serious error, while computer vision methods suffer from the
relatively slow updating speed due to the complex algorithms and the
accuracy limitation due to the camera resolution and image blur.

The system we designed achieves a better performance by combining these two
techniques. The system measures the ego-motion in six degree-of-freedom
(DOF) and outputs its position, orientation, linear velocities and angular
rates. It was tested in a normal working environment. The IMU used is a
low-cost one with significant bias and noise. It updates angular motion at
50Hz. The stereo camera with a 15cm-baseline captures color videos and
updates linear motion at 14Hz.

Date		:  25 May 2009

Time		:  3pm to 4pm

Venue		:  3405

Advisor		:  Prof. Quan Long

2nd reader	:  Prof. Pedro Sander

******************* All are welcome *************************