Adaptive loosely-tightly coupled algorithm for head attitude tracking

Huiling Peng; Changku Sun; Peng Wang

doi:10.1117/12.2608008

8 July 2022 Adaptive loosely-tightly coupled algorithm for head attitude tracking

Huiling Peng, Changku Sun, Peng Wang

Proceedings Volume 12282, 2021 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Systems; 122820M (2022) https://doi.org/10.1117/12.2608008
Event: 2021 International Conference on Optical Instruments and Technology, 2022, Online Only

Abstract

Aiming at the problem that the loosely coupled Kalman Filter algorithm cannot perform measurement updating when the feature points are few, a head attitude tracking algorithm based on adaptive loosely-tightly coupled Extended Kalman Filtering is proposed. Firstly, according to the angular velocity measurement data from an IMU mounted on the head, the algorithm realizes the time updating of the head attitude. Then the algorithm completes the adaptive loosely-tightly coupled measurement updating according to the number of available feature points. When there are more than 4 feature points, the PnP pose is solved firstly. Then the loosely coupled measurement updating is performed by using the pose measurement. Otherwise, the tightly coupled measurement updating is performed directly by using the image measurement data. Finally, the experimental results show that the proposed algorithm can significantly expand the updating range of the head pose measurement, and improve the accuracy and stability of the head attitude tracking.

Citation Download Citation

Huiling Peng, Changku Sun, and Peng Wang "Adaptive loosely-tightly coupled algorithm for head attitude tracking", Proc. SPIE 12282, 2021 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Systems, 122820M (8 July 2022); https://doi.org/10.1117/12.2608008

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KEYWORDS

Head

Detection and tracking algorithms

Filtering (signal processing)

Sensors

Error analysis

Electronic filtering

Image sensors

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