{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/inertial-based-scale-estimation-for-structure","title":"Inertial-Based Scale Estimation for Structure from Motion on Mobile Devices","arxiv_id":"1611.09498","date":"2016-11-29","proceeding":null,"authors":["Janne Mustaniemi","Juho Kannala","Simo Särkkä","Jiri Matas","Janne Heikkilä"],"abstract":"Structure from motion algorithms have an inherent limitation that the\nreconstruction can only be determined up to the unknown scale factor. Modern\nmobile devices are equipped with an inertial measurement unit (IMU), which can\nbe used for estimating the scale of the reconstruction. We propose a method\nthat recovers the metric scale given inertial measurements and camera poses. In\nthe process, we also perform a temporal and spatial alignment of the camera and\nthe IMU. Therefore, our solution can be easily combined with any existing\nvisual reconstruction software. The method can cope with noisy camera pose\nestimates, typically caused by motion blur or rolling shutter artifacts, via\nutilizing a Rauch-Tung-Striebel (RTS) smoother. Furthermore, the scale\nestimation is performed in the frequency domain, which provides more robustness\nto inaccurate sensor time stamps and noisy IMU samples than the previously used\ntime domain representation. In contrast to previous methods, our approach has\nno parameters that need to be tuned for achieving a good performance. In the\nexperiments, we show that the algorithm outperforms the state-of-the-art in\nboth accuracy and convergence speed of the scale estimate. The accuracy of the\nscale is around $1\\%$ from the ground truth depending on the recording. We also\ndemonstrate that our method can improve the scale accuracy of the Project\nTango's build-in motion tracking.","url_abs":"http://arxiv.org/abs/1611.09498v2","url_pdf":"http://arxiv.org/pdf/1611.09498v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"inertial-based-scale-estimation-for-structure","repo_url":"https://github.com/robonrrd/ibse","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[{"method_slug":"speed","method_name":"SPEED"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}