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content/notes/12-advanced-sensing-vision-sensors.md
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@ -18,6 +18,8 @@ Sensor Fusion - Fusion with vision sensors
> [!INFO] can you camera help you know where you are without GPS. > [!INFO] can you camera help you know where you are without GPS.
> could build snensor fusion system using GPS and the camera to improve accuracy. can use 3d maps to compare you camera view with generate views of 3d maps > could build snensor fusion system using GPS and the camera to improve accuracy. can use 3d maps to compare you camera view with generate views of 3d maps
> [!INFO] combine compasss reading with magnetometer, to stabilise magnetometer
Vision-based Localisation and Tracking Vision-based Localisation and Tracking
- Reprise from our earlier lecture on localisation and tracking using hardware sensors: - Reprise from our earlier lecture on localisation and tracking using hardware sensors:
- GPS: not working indoors, not very accurate, but (nearly) everywhere available - GPS: not working indoors, not very accurate, but (nearly) everywhere available
@ -39,4 +41,10 @@ Computer Vision
- Human body including face, fingers, hands and feet, or the whole body - Human body including face, fingers, hands and feet, or the whole body
- Activities such as typing, standing up, walking, entering a doorway or shaking hands - Activities such as typing, standing up, walking, entering a doorway or shaking hands
• Reprise: • Degrees of Freedom (DoF): Number of parameters of the system that may vary independently. • E.g. a Compass has 1DoF, Accelerometers 3DoF, • 6DoF: posX, posY, posZ, rotX, rotY, rotZ • Localisation: Computing ones pose assuming no prior knowledge (usually in 6DoF, and often not in real-time) • Tracking: Computing ones pose using prior knowledge (usually in 6DoF, and often not in real-time) V Vision-based Localisation and Tracking
- Reprise:
- Degrees of Freedom (DoF): Number of parameters of the system that may vary independently.
- E.g. a Compass has 1DoF, Accelerometers 3DoF,
- 6DoF: posX, posY, posZ, rotX, rotY, rotZ
- Localisation: Computing ones pose assuming no prior knowledge (usually in 6DoF, and often not in real-time)
- Tracking: Computing ones pose using prior knowledge (usually in 6DoF, and often not in real-time)