Gyrevento: Event-based Omnidirectional Visual Gyroscope in a Manhattan World - Université de Picardie Jules Verne
Article Dans Une Revue IEEE Robotics and Automation Letters Année : 2025

Gyrevento: Event-based Omnidirectional Visual Gyroscope in a Manhattan World

Résumé

In this paper, we study the problem of estimating the orientation of an event omnidirectional camera mounted on a robot and observing 3D parallel lines in a man-made environment (Manhattan world). We present Gyrevento, the first event-based omnidirectional visual gyroscope. Gyrevento does not require any initialization, provides certifiably globally optimal solutions, and is scalable, since the size of the nonlinear least-squares cost function is independent of the number of lines. Thanks to the Cayley-Gibbs-Rodrigues parameterization of a 3D rotation, this cost function is a degree-four rational function in three variables, which can be efficiently minimized via off-the-shelf polynomial optimization software. Numerical simulations and real-world experiments with a robot manipulator show the effectiveness of our visual gyroscope and elucidate the impact of camera velocity on the attitude estimation error.
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Dates et versions

hal-04849696 , version 1 (20-12-2024)

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Copyright (Tous droits réservés)

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  • HAL Id : hal-04849696 , version 1

Citer

Daniel Rodrigues da Costa, Pascal Vasseur, Fabio Morbidi. Gyrevento: Event-based Omnidirectional Visual Gyroscope in a Manhattan World. IEEE Robotics and Automation Letters, In press. ⟨hal-04849696v1⟩
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