The Object Spatial Orientation Calculation based on 3D Inertial Module and Kalman Filter

The objects spatial orientation is one of the major navigation problems and absolute orientation estimation is one of the key steps in the computer vision. Many methods have been proposed to estimate absolute object pose based on orientation sensors, such as gyroscopes, accelerometers, or inertial measurement units (IMUs), The current paper described a Kalman filter based algorithm to obtain the spatial orientation and the proposed algorithm results from the experimental study are compared with the calculated values from the built-in software library in the BNO055 sensor module. The proposed algorithm for the absolute orientation estimation may be easily integrated in the different embedded systems with limited resources such as gyro-stabilized camera systems, etc.