Inertial Measurement Unit Application for Time of Flight Cameras

University essay from Luleå/Department of Computer Science, Electrical and Space Engineering

Author: Mikael Håkansson; [2011]

Keywords: IMU; Inertial; Time of flight;

Abstract: Using special kinds of cameras or scanners it is possible to create 3D models of objects.
This thesis deals with integrating an Inertial Measurement Unit (IMU) with such
a camera, to allow for simultaneous capture of inertial data and camera frames. And
possibly be able to improve one of the most common algorithms for creating 3D models,
the Iterative Closest Point algorithm (ICP). By adding inertial sensing equipment to the
camera it is possible to aid the algorithm in such a way that a better, more accurate 3D
model can be obtained. To achieve this, an IMU has been used, and software has been
written to calculate inertial positioning data. The prototype has undergone various tests
to illustrate the performance of the system, and to show how the algorithm may prot
from the addition of inertial positioning. In conclusion it can be stated that the written
software works as intended and that the ICP algorithm does benet from the IMU, not
by a very large amount but some of the known problems that the algorithm suers from
are reduced.

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