Tightly Integrated Sensor Fusion for Robust Оisual Tracking

Tightly Integrated Sensor Fusion for Robust Оisual Tracking
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Parametric
Edge Detector
Visual
Sensor
Motion Blur Estimate
Motion Prediction
Rotation
Inertial
Sensor
Translation
Estimated System State
Measure
(Pose, Velocity)
Measure
Bias Correction
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7 Bias [rad/s]
26.0
25.8
25.6
25.4
25.2
25.0
0
10
Time [Hours]
20
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Kernel [-1 1]
Intensity Along Edge Normal
180
170
160
150
0
50
Position
100
3
4
Edge Strength
Edge Strength
Pixel Intensity
190
Ramp Kernel (Length 36)
5
200
3
2
1
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0
50
100
Position
2
1
0
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50
Position
100
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" M" Sequence:
Visual Sensor Only [rad/s] (pixels)
Pose Initialisation Only
Motion Blur Correction
World
0.3 (3)
0.8 (8)
3.1 (33)
Ship
0.3 (3)
1.2 (13)
2.0 (21)
Cubicle
1.0 (11)
3.6 (38)
4.7 (50)
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