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19 November 2003 Attitude estimation using an imaging-sensor, accelerometers and gyros
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We present a new attitude estimation algorithm for a freely moving rigid body using an imaging sensor, two accelerometers and three gyros which are mounted in the body. The proposed attitude estimation algorithm, which is based on the extended Kalman filter (EKF), uses two measurements; the reference direction-vector derived from the image and the local vecrtical vector obatined from the two accelerometers. To obtain the reference direction-vector from the imaging sensor, we track a preselected feature block in successive image frames using an image-based region tracking method which does not require a time-consuming image-registration process. Our block-matching algorithm is based on the one in MPEG-2. Using the two direction vector measurements, we obtain a filtered estimate of the Euler angles of the rigid body. Between two successive measurements we use the rate-gyros to propagate (or to obtain the predicted estimate of) the Euler angles. One of the possible applications of the proposed algorithm is for the automatic targeting capability that would be required in a next-generation military rifle. Our algorithm has been implemented in hardware, and shown to be functioning properly.
© (2003) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Youngmi Park and Joohwan Chun "Attitude estimation using an imaging-sensor, accelerometers and gyros", Proc. SPIE 5203, Applications of Digital Image Processing XXVI, (19 November 2003);

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