Tightly integrated sensor fusion for robust visual tracking (with Georg Klein)

This work combines visual edge-based tracking with inertial sensors. The inertial sensors give a prediction of both the motion of the camera and the blur that should be present in the image. The edge detectors in the visual tracker are then be adapted to search for edges with the appropriate amount of blur for each match. The results of the visual tracker are also then used to calibrate the bias and drift in the intertial sensors. This work won the Industry Prize at BMVC 2002. 

[Prizewinning 2002 BMVC Paper]
[2004 IVC Paper]