Camera Ego-Positioning Using Sensor Fusion and Complementary Method

Peng Yuan Kao*, Kuan Wei Tseng, Tian Yi Shen, Yan Bin Song, Kuan Wen Chen, Shih Wei Hu, Sheng Wen Shih, Yi Ping Hung

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


    Visual simultaneous localization and mapping (SLAM) is a common solution for camera ego-positioning. However, SLAM sometimes loses tracking, for instance due to fast camera motion or featureless or repetitive environments. To account for the limitations of visual SLAM, we use sensor fusion method to fuse the visual positioning results with inertial measurement unit (IMU) data based on filter-based, loosely-coupled sensor fusion methods, and further combines feature-based SLAM with direct SLAM via proposed complementary fusion to retain the advantages of both methods; i.e., we not only keep the accurate positioning of feature-based SLAM but also account for its difficulty with featureless scenes by direct SLAM. Experimental results show that the proposed complementary method improves the positioning accuracy of conventional vision-only SLAM and leads to more robust positioning results.

    Original languageEnglish
    Title of host publicationPattern Recognition. ICPR International Workshops and Challenges, 2021, Proceedings
    EditorsAlberto Del Bimbo, Rita Cucchiara, Stan Sclaroff, Giovanni Maria Farinella, Tao Mei, Marco Bertini, Hugo Jair Escalante, Roberto Vezzani
    PublisherSpringer Science and Business Media Deutschland GmbH
    Number of pages14
    ISBN (Print)9783030687953
    StatePublished - 2021
    Event25th International Conference on Pattern Recognition Workshops, ICPR 2020 - Milan, Italy
    Duration: 10 Jan 202111 Jan 2021

    Publication series

    NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    Volume12663 LNCS
    ISSN (Print)0302-9743
    ISSN (Electronic)1611-3349


    Conference25th International Conference on Pattern Recognition Workshops, ICPR 2020


    • Camera ego-positioning
    • Sensor fusion


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