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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.
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Using the key principles of angular momentum, the gyroscope helps indicate orientation. In comparison, the accelerometer measures linear acceleration based on vibration. The typical two-axis accelerometer gives users a direction of gravity in an aircraft, smartphone, car or other device.
MPU6050 has a 3-axis gyroscope, 3- axis Accelerometer and a Digital motion processor integrated on a single chip. It works on the power supply of 3V-5V. MPU6050 uses the I2C protocol for communication and transfer of data. This module has a built-in 16-bit ADC which provides great accuracy.
3-axis gyroscopes measure angular rate and are usually combined with an accelerometer in a common package to allow advanced algorithms like sensor fusion (for orientation estimation in 3D space).
Grove - 6-Axis Accelerometer&Gyroscope is a cost-effective Grove interfaced and integrated sensor combination of 3-axis digital accelerometer and 3-axis digital gyroscope.
The gyro yaw using DeviceMotion has a drift when you first start updating, try not to take those samples and everyone will be happy.
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