|Title:||Integration of Vision and Inertial Sensors - 28 June 2008|
Inertial sensors coupled to cameras can provide valuable data about camera ego-motion and how world features are expected to be oriented. Object recognition and tracking benefits from both static and dynamic inertial information. In human vision several tasks rely on the inertial data provided by the vestibular system. Artificial systems should also exploit this sensing fusion. In this tutorial we first present some studies on visuo-vestibular interactions in humans, providing a biological motivation. The complementary information between inertial and visual sensing modalities for robotic applications will be presented and discussed. Starting from a biological perspective, some fundamental approaches for fusing this sensing data in robotic systems will be presented, together with a survey of the recent work in the field.