2-Point-based Outlier Rejection for Camera-IMU Systems with applications to Micro Aerial Vehicles

This paper presents a novel method to perform the outlier rejection task between two different views of a camera rigidly attached to an Inertial Measurement Unit (IMU). Only two feature correspondences and gyroscopic data from IMU measurerments are used to compute the motion hypothesis. By exploiting this 2-point motion parametrization, we propose two algorithms to remove wrong data associations in the feature-matching process for case of a 6DoF motion. We show that in the case of a monocular camera mounted on a quadrotor vehicle, motion priors from IMU can be used to discard wrong estimations in the framework of a 2-point-RANSAC based approach. The proposed methods are evaluated on both synthetic and real data.

Presented at:
2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, May 31 - June 7, 2014

 Record created 2014-06-16, last modified 2018-03-17

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