A Low-Cost Hybrid SDINS/Multi-Camera Vision System for a Hand-held Tool Positioning

N. Parnian and F. Golnaraghi

Abstract:	This paper concerns the development of a smart sensory system based on the low-cost sensors for tracking a handheld moving device within a required accuracy range over extended periods of time. A low cost hybrid strapdown inertial navigation system (SDINS)/multi-camera vision system with the integration of the Extended Kalman Filter (EKF) is designed to determine the 3D position of the tool tip. The proposed system computes accurate position of the object without relying on the knowledge of the motion, and purely based on the motion it experiences. The continuous motion of the tool is sensed in three perpendicular axes by using one MEMS-based accelerometer and one MEMS-based gyro per axis. Simultaneously, the multicamera vision system, including four low cost CCD cameras, is tracking the tool in its entire workspace at the lower measurement rate. Furthermore, all four cameras are located at the fixed and specified positions and orientations with respect to the center of the tool workspace. The experimental results show that the position errors of the tool tip tracking in all directions in compare with pure optical tracking system decreases. However, the error increases with decreasing the sampling rate of the vision system from 20 fps to 10fps, 5fps, and 2fps. A hybrid SDINS/multi-camera vision system combines the best features of two different navigation systems, providing a unique solution to track and localize a moving object more precisely. SDINS provides continuous estimates of all components of a motion, but it is losing its accuracy over time due to inertial sensors drifts. Vision system has the advantage that it can possibly get absolute position and velocity independent of operation time; but it is computationally quite expensive, and exhibits low measurement rate.
Published in:	Proceedings of IEEE/ION PLANS 2008 May 6 - 8, 2008 Hyatt Regency Hotel Monterey, CA
Pages:	489 - 496
Cite this article:	Parnian, N., Golnaraghi, F., "A Low-Cost Hybrid SDINS/Multi-Camera Vision System for a Hand-held Tool Positioning," Proceedings of IEEE/ION PLANS 2008, Monterey, CA, May 2008, pp. 489-496. https://doi.org/10.1109/PLANS.2008.4570024
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