A method of movement tracking based on the inertial plane
Kiichiro Izumida, Nobuya Nagata · Systems and Computers in Japan · 1999
This study deals with the configuration of a vision system for mobile robots equipped with a single-lens camera. A new method of movement tracking is proposed using the concept of inertial reference plane. When implementing movement tracking by means of a single-lens camera, a number of problems remain to be solved, such as variation of the vision field caused by the robot's motion, uncertainty of space relations between robot and objects that occurs because depth data are lost, and so on. Herein we propose a method of movement tracking in which the robot's pose variation is detected using data from gyrosensors while the inertial reference plane is constantly maintained to track 3D movement of an object in a real environment in terms of its 2D projection onto the inertial place. The validity of the proposed method is proven by simulation. © 1999 Scripta Technica, Syst Comp Jpn, 30(6): 47–53, 1999