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The aim of the present work is to define a calibration framework to estimate the relative orientation between a camera and an inertial orientation sensor AHRS (Attitude Heading Reference System). Many applications in computer vision and in mixed reality frequently work in cooperation with such class of inertial sensors, in order to increase the accuracy and the reliability of their results. In this context the heterogeneous measurements must be represented in a unique common reference frame (rf.) in order to carry out a joint processing. The basic framework is given by the estimation of the vertical direction, defined by a 3D vector expressed in the camera rf. as well as in the AHRS rf. In this paper a new approach has been adopted to retrieve such direction by using different geometrical entities which may be inferred from the analysis of single axis motion projective geometry. Their performances have been evaluated on simulated data as well as on real data.

ESTIMATION OF INERTIAL SENSOR TO CAMERA ROTATION FROM SINGLE AXIS MOTION