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Journal of Sensors
Volume 2016 (2016), Article ID 8923587, 8 pages
Research Article

Relative Pose Estimation Algorithm with Gyroscope Sensor

1School of Computer Science and Technology, Beihang University, Beijing 100191, China
2Lenovo Group, Ecosystem & Cloud Services Business Group, Beijing 100085, China
3Lenovo Corporate R&D, SoC Center, Beijing 100085, China

Received 26 July 2016; Accepted 27 October 2016

Academic Editor: Jose R. Martinez-de Dios

Copyright © 2016 Shanshan Wei et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes a novel vision and inertial fusion algorithm S2fM (Simplified Structure from Motion) for camera relative pose estimation. Different from current existing algorithms, our algorithm estimates rotation parameter and translation parameter separately. S2fM employs gyroscopes to estimate camera rotation parameter, which is later fused with the image data to estimate camera translation parameter. Our contributions are in two aspects. (1) Under the circumstance that no inertial sensor can estimate accurately enough translation parameter, we propose a translation estimation algorithm by fusing gyroscope sensor and image data. (2) Our S2fM algorithm is efficient and suitable for smart devices. Experimental results validate efficiency of the proposed S2fM algorithm.