Synchronization of Full-view Image Inertial Sensor and GPS Data for Route Map Building

Abstract

In this paper we propose a method of synchronizing automatically the full-view image, inertial sensor and GPS information which are recorded independently, respectively, for route map building. The full-view image sensor is composed of a pair of fisheye cameras. By synchronizing the two image streams of the pair of fisheye cameras a seamless full-view image is acquired. By synchronizing the inertial sensor with the full-view image the inclination caused by route situation, such as slope and slant, can be compensated. By synchronizing the full-view image with GPS information the full-view image stream is re-sampled uniformly so that the full-view image is registered to a digital map with approximately equal distance along routes. The above synchronization is achieved by matching the motion of these sensors. To estimate the motion between consecutive frames, a small motion model of spherical image is used. The experimental results show the effectiveness of our method.