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rotation-estimator
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3-point RANSAC for fast vision based rotation estimation using GPU technology
, Article IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems9 February 2017 ; 2017 , Pages 212-217 ; 9781467397087 (ISBN) ; Manzuri, M. T ; Marjovi, A ; Karimian, M ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2017
Abstract
In many sensor fusion algorithms, the vision based RANdom Sample Consensus (RANSAC) method is used for estimating motion parameters for autonomous robots. Usually such algorithms estimate both translation and rotation parameters together which makes them inefficient solutions for merely rotation estimation purposes. This paper presents a novel 3-point RANSAC algorithm for estimating only the rotation parameters between two camera frames which can be utilized as a high rate source of information for a camera-IMU sensor fusion system. The main advantage of our proposed approach is that it performs less computations and requires fewer iterations for achieving the best result. Despite many...
Online visual gyroscope for autonomous cars
, Article 24th Iranian Conference on Electrical Engineering, ICEE 2016, 10 May 2016 through 12 May 2016 ; 2016 , Pages 113-118 ; 9781467387897 (ISBN) ; Karimian, M ; Nazemipour, A ; Manzuri, M.T ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2016
Abstract
Knowing the exact position and rotation is a crucial necessity for the navigation of autonomous robots. Even in outdoor environments GPS signals are not always accessible for estimating online rotation and position of robots. Also inertial aided navigation methods have their own defects such as the drift of gyroscope or inaccuracy of accelerometer in agile motions and environmental sensitivity of compass. In this article, we have introduced a novel online visual gyroscope that can estimate the rotation of a moving car with analyzing the images of a monocular camera installed on it. Our real time visual gyroscope utilizes an efficient method of rotation estimation between each pair of camera...
Accuracy Improvement of Vision-Aided Gyroscope using Convolutional Neural Network
, M.Sc. Thesis Sharif University of Technology ; Manzuri Shalmani, Mohammad Taghi (Supervisor)
Abstract
The growth of the knowledge of image processing and machine vision in recent years has led to many applications in various fields. One of the most important applications in machine vision is automotive navigation of vehicles and robots. The effective use of visual sensors to detect obstacles, routing, detecting the position of the robot, and mapping the environment is one of the most important goals in ground robotics. Few methods using sensors such as accelerometers, gyroscopes and global positioning systems, suffer from problems such as high costs, accumulative errors, dependencies on external systems, and the inability to be used in closed spaces. But with the use of the visual sensors,...
Real-time Implementation of Vision-aided Navigation on GPU
, M.Sc. Thesis Sharif University of Technology ; Manzuri Shalmani, Mohammad Taghi (Supervisor)
Abstract
Knowing the exact position of the robot in real world is one of crucial and important aspects of its navigation process. For this purpose, several inertial sensors such as gyroscope, accelerometer and compass have been used; however, each one of these sensors has its own drawbacks which cause some inaccuracies in some specific situations. Moreover, the Global Positioning System (GPS) is not available in indoor environments and also not accurate in outdoor places. All of these reasons have persuaded researchers to use camera frames captured from the top of robot as new information for estimating motion parameters of the robot. The main challenge for vision aided localization algorithms is...
MEMS gyro bias estimation in accelerated motions using sensor fusion of camera and angular-rate gyroscope
, Article IEEE Transactions on Vehicular Technology ; Volume 69, Issue 4 , April , 2020 , Pages 3841-3851 ; Manzuri, M. T ; Kamran, D ; Karimian, M ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2020
Abstract
Although the accuracy of MEMS gyroscopes has been extremely improved, in some aspects, such as stability of bias, they still suffer from some big error sources, like run-to-run bias, which determines the sensor price but is not negligible even inexpensive sensors. Due to the fact that run-to-run bias is a kind of stochastic parameter, it has to be measured by utilizing online methods. Utilizing a novel, fast and efficient vision-based rotation estimation algorithm for ground vehicles, we have developed a visual gyroscope that is used in our sensor fusion system, in order to estimate run-to-run bias of the MEMS gyroscope, accurately. Comparing with similar approaches that use GPS, odometer,...