newIJRR cover image Special issue of
The International Journal of Robotics Research
with InerVis 2005 papers




InerVis 2005
2nd Workshop on 
Integration of Vision and Inertial Sensors 
18 April 2005 

ICRA'05
IEEE International Conference on Robotics and Automation
Barcelona, Spain


 

 

  Photo Album of  INERVIS 2005
                                                                                   directory with hi_res photos (2048x1536)

Introduction

Visual and inertial sensing are two sensory modalities that can be explored to give robust solutions on image segmentation and recovery of 3D structure from images, increasing the capabilities of robotic systems and enlarging the application potential of vision systems. Estimating the egomotion of an autonomous system is required in many important applications, e.g. navigation, 3D human-computer-interaction, and surveillance. Two sensing modes prove to be of particular value to achieve this task: visual and inertial sensing. The "beauty" of combining these two sensor modalities are the complementary characteristics of camera and inertial sensors. On one hand, the inertial sensors have large measurement uncertainty at slow motion and lower relative uncertainty at high velocities. Inertial sensors can measure very high velocities and accelerations. On the other hand, the cameras can track features very accurately at low velocities. With increasing velocity tracking is less accurate since the resolution must be reduced to obtain a larger tracking window with same pixel size and, hence, a higher tracking velocity.

In humans and in animals the vestibular system in the inner ear gives inertial information essential for navigation, orientation, body posture control and equilibrium. In humans this sensorial system is crucial for several visual tasks and head stabilisation. Neural interactions of human vision and vestibular system occur at a very early processing stage. The information provided by the vestibular system is used during the execution of visual movements such as gaze holding and tracking. Micromachining enabled the development of low-cost single chip inertial sensors. These can be easily incorporated alongside the camera imaging sensor, providing an artificial vestibular system. The noise level of these sensors is not suitable for inertial navigation systems, but their performance is similar to biological inertial sensors and can play a key role in artificial vision systems.
 

Scope

The goal of this workshop is to bring together researchers working on integrating these two and possible other sensors into one system. We encourage contributions including the following aspects:

Final Programme  

09:00-10:00 "Self Motion and Object Perception" by Jacques Droulez
10:00-11:00 --Paper Session 1------------------------------------------------------
          10:00 "Design of a Hybrid Visuo-inertial smart sensor"
                    Pierre Chalimbaud, François Berry, François Marmoiton, Serge Alizon
          10:30 "Development of Tiny Orientation Estimation Device under Motion and Magnetic Disturbance"
                    Tatsuya Harada, Tomomasa Sato, Taketoshi Mori
11:00-11:30 Coffee Break
11:30-13:00 --Paper Session 2------------------------------------------------------
          11:30 "Relative Pose Calibration Between Visual and Inertial Sensors"
                    Jorge Lobo, Jorge Dias
          12:00 "Calibration of Hybrid Vision / Inertial Tracking Systems"
                    Peter Lang, Axel Pinz
          12:30 "Simultaneous Motion and Structure Estimation by Fusion of Inertial and Vision Data with High Speed CMOS Camera"
                    Peter Gemeiner and Markus Vincze
13:00-14:30 Lunch
14:30-16:00 --Paper Session 3------------------------------------------------------
          14:30 "Integration of Vision and Inertial Sensors for Home-based Rehabilitation"
                    Yaqin Tao, Huosheng Hu, Huiyu Zhou
          15:00 "Orpheus - Sensory Supported Visual Telepresence Mobile Robotic System"
                    Ludek Zalud, Tomas Neuzil
          15:30 "Omni-directional Motion Stereo Vision based on Accurate GPS/INS Navigation System"
                    Jun-ichi Meguro, Jun-ichi Takiguchi, Yoshiharu Amano, Hashizume Takumi
16:00-16:30 Coffee Break
16:30-18:00 --Paper Session 4------------------------------------------------------
          16:30 "Dynamic stabilization of an Underwater Vehicle using the visual servoing system “CYCLOPE”"
                    Michel Perrier
          17:00 "Embedding Vision, Sonar-INS Based Motion Estimation Algorithms for AUV Navigation"
                    Bharath Kalyan, Arjuna Balasuriya, Toshihiro Maki, Tamaki Ura, Hayato Kondo
          17:30 "Fast Ego-Motion Estimation with Multi-rate Fusion of Inertial and Vision"   
                    Leopoldo Armesto, Josep Tornero, Markus Vincze
          18:00 "Towards Motion estimation in Dynamic Legged Locomotion Using Optical Flow and Inertial Measurements"
                    Surya P. N. Singh and Kenneth J. Waldron
18h30-19h00: Discussion panel and closing session  - Peter Corke

Call for papers


Important Dates


Instructions for authors

Researchers and students are encouraged to present ongoing work on inertial and vision systems and evaluation results. Papers of at most 6 pages (pdf following ICRA’05 format instructions at http://www.icra2005.org/frontal/PaperFormat.asp) are solicited for inclusion in a single track program. Papers will be reviewed by an international program committee. Submissions must be sent by e-mail to jorge@isr.uc.pt as a PDF file with subject “InerVis2005” and in the body of the e-mail message, you must specify the following:
  Paper title
  Name, affiliation, and email of all authors
  Name, email, and postal address of corresponding author
  Phone and fax of corresponding author
  Keywords (max 5)
  Abstract (maximum 200 words)
All submissions will be acknowledged within a few days. Papers will be reviewed for quality and relevance and the decision of acceptance will be mailed to the corresponding author. Accepted papers will be included in the workshop notes, distributed at the workshop, and published on the workshop's web site.
The organizing committee intends to publish extended versions of workshop papers in an international journal special issue. InerVis2003 extended papers were published in a two-part special issue of Journal of Robotic Systems, Jan and Feb 2004.


Organizing Committee

Program Committee


Reviewers

Sponsors


Previous Inervis Workshops and Publications

Last modified by Jorge Lobo on 25th June 2007