Motion Estimation for RHEX
Early results from experiments to estimate motion of RHEX using vision and
inertial data. Data taken by Sarjoun Skaff and Peter Corke, Oct 2003.
Pictures showing fisheye lens on Rhex used for this experiment
Spec Sheet for fisheye lens.
Video clip (25 MB streaming Quicktime) from fisheye lens mounted on
RHEX
(left) raw video taken from forward looking video camera
(right) video stablized by hand selection of the horizon
in 300 frames.
Plot showing comparison of roll estimated from vision and from IMU.
Not the clipping due to saturation of the gyro.
EMF file of the above plot for use with matlab (visVsImuRoll.emf)
Video clip from fisheye lens mounted on RHEX showing feature
tracking on stabilized Image
(left) feature tracking on raw video (middle), feature tracking on
video stabilized by onboard IMU (right) feature tracking on video
stabilized by hand selection of features. Feature tracks start at
filled dots
Video clip from fisheye lens mounted on RHEX showing feature
tracking on raw video
(left) feature tracking on raw video (middle), feature tracking on
raw video based on IMU measurements (right) feature tracking on raw
video based on motion by hand selection of features. Feature tracks start at
filled dots
