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

Chiara Troiani 1, * Agostino Martinelli 1 Christian Laugier 1 Davide Scaramuzza 2 
* Corresponding author
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : 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 featurematching 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.
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Submitted on : Wednesday, July 16, 2014 - 7:16:43 PM
Last modification on : Monday, July 25, 2022 - 3:44:27 AM
Long-term archiving on: : Monday, November 24, 2014 - 4:57:26 PM


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  • HAL Id : hal-01024890, version 1


Chiara Troiani, Agostino Martinelli, Christian Laugier, Davide Scaramuzza. 2-Point-based Outlier Rejection for Camera-Imu Systems with applications to Micro Aerial Vehicles. 2014 IEEE International Conference on Robotics and Automation (ICRA), May 2014, Hong Kong, Hong Kong SAR China. ⟨hal-01024890⟩



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