Contactless Measurement of Pose in the Earth Frame Using a Mobile Phone

摘要

In this paper, we propose an accurate non-contact pose estimation method for the pose of a remote target in the earth coordinate frame using a mobile phone equipped with a camera and an inertial measurement unit (IMU). Under the Manhattan world assumption, we first estimate the relative pose between the target and the camera using an existing line-based pose estimation method and then seek the target's pose in the earth frame by combining the visual pose and the IMU orientation. To improve the overall estimation accuracy, we propose a new camera-IMU relative pose calibration method, where we take the different stochastic nature the accelerometer and magnetometer measurements into consideration, and propose a new a consistency measure defined on elevation and azimuth angles. When compared to state-of-the-art methods, it demonstrates strong advantage on both elevation and azimuth estimation accuracy while featuring convenient calibration setting-up. We also report the improved overall pose estimation accuracy based on evaluations on a real-world dataset using our method, in contrast to an uncalibrated phone.