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The International Journal of Robotics Research
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Introduction

An Introduction to Inertial and Visual Sensing

Peter Corke

CSIRO ICT Centre Brisbane, Australia, peter.corke{at}csiro.au

Jorge Lobo

Institute of Systems and Robotics University of Coimbra, Portugal, jlobo{at}isr.uc.pt

Jorge Dias

Institute of Systems and Robotics University of Coimbra, Portugal, jorge{at}isr.uc.pt

In this paper we present a tutorial introduction to two important senses for biological and robotic systems — inertial and visual perception. We discuss the fundamentals of these two sensing modalities from a biological and an engineering perspective. Digital camera chips and micro-machined accelerometers and gyroscopes are now commodities, and when combined with today's available computing can provide robust estimates of self-motion as well 3D scene structure, without external infrastructure. We discuss the complementarity of these sensors, describe some fundamental approaches to fusing their outputs and survey the field.

Key Words: vision • inertial sensing • sensor fusion

The International Journal of Robotics Research, Vol. 26, No. 6, 519-535 (2007)
DOI: 10.1177/0278364907079279
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P. Gemeiner, P. Einramhof, and M. Vincze
Simultaneous Motion and Structure Estimation by Fusion of Inertial and Vision Data
The International Journal of Robotics Research, June 1, 2007; 26(6): 591 - 605.
[Abstract] [PDF]