CODEWITHSUNDEEP
iphoneaccelerometer
paul
paul

Reputation: 257

6DOF using accelerometer and gyroscope

Has any one developed 6DOF pose estimation using only the iPhone sensors, not video? Drift from the accelerometer and gyroscope are understood.

The gyroscope provides fairly reliable relative orientation rates. I've been able to develop with the gyroscope data.

However, I'm having more problems deriving translation from the accelerometer. Double integration of the acceleration leads to useless position data very quickly (less than half a second).

I have attempted to remove the bias with a calibration step, but the position is still poor. What's worse, is the bias isn't constant. It changes over time, and the noise drowse the signal.

I'm interested if anyone has been able to develop a 6DOF with only the accelerometer and gyroscope that works reliably for 5-10 seconds with little drift in both translation and orientation.

Upvotes: 11

Views: 3646

Answers (2)

Mario
Mario

Reputation: 11

The gyro yaw using DeviceMotion has a drift when you first start updating, try not to take those samples and everyone will be happy.

Upvotes: 1

Gustavo
Gustavo

Reputation: 795

I made a post about this: Get orientation device in the iPhone for Opengl Es, I having the same issue, I´m just trying to make a filter but it´s not working good, there is a book about these http://www.amazon.com/iOS-Sensor-Programming-Augmented-Location/dp/1449382657, but I didn´t read this book.

Upvotes: 0

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