An introduction to inertial and visual sensing

Peter Corke, Jorge Lobo, Jorge Dias

Research output: Contribution to journalArticlepeer-review

245 Scopus citations


In this paper we present a tutorial introduction to two important senses for biological and robotic systems inertial and visual perception. We discuss the fundamentals of these two sensing modalities from a biological and an engineering perspective. Digital camera chips and micro-machined accelerometers and gyroscopes are now commodities, and when combined with today's available computing can provide robust estimates of self-motion as well 3D scene structure, without external infrastructure. We discuss the complementarity of these sensors, describe some fundamental approaches to fusing their outputs and survey the field.

Original languageBritish English
Pages (from-to)519-535
Number of pages17
JournalInternational Journal of Robotics Research
Issue number6
StatePublished - Jun 2007


  • Inertial sensing
  • Sensor fusion
  • Vision


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