Nowadays , there are other alternatives that can be used to observe the motion outside the camera, which offer a cheaper and more space-independent solution for examining location change. Unfortunately , less cost and freedom go to the expense of accuracy.
During my thesis I check one of the alternatives , what name is Inertial Measurement Unit , short IMU. I examined the various fusion algorithms that approximate the data of the gyroscope , accelerometer and magnetometer on the IMU via a AHRS (Attitude Heading Reference System) filter to realistic values and give it the orientation of the sensor. Then , with the accelerometer and the orianttion , I can separately determine the position .
In the course of the study, I developed a measurement environment that was followed by movement by camera, and I took reference values to which I could relate the data from the sensor and evaluated the efficiency of each algorithm.