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Relative Pose Calibration Between Visual and Inertial Sensors

Relative Pose Calibration Between Visual and Inertial Sensors,10.1177/0278364907079276,International Journal of Robotic Research,Jorge Lobo,Jorge Dias

Relative Pose Calibration Between Visual and Inertial Sensors   (Citations: 49)
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This paper proposes an approach to calibrate off-the-shelf cameras and inertial sensors to have a useful integrated system to be used in static and dynamic situations. The rotation between the camera and the inertial sensor can be estimated, when calibrating the camera, by having both sensors observe the vertical direction, using a vertical chessboard target and gravity. The translation between the two can be estimated using a simple passive turntable and static images, provided that the system can be adjusted to turn about the inertial sensor null point in several poses. Simulation and real data results are presented to show the validity and simple requirements of the proposed method.
Journal: International Journal of Robotic Research - IJRR , vol. 26, no. 6, pp. 561-575, 2007
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    • ...We note that the calibration problem for inertial vision itself has been the topic of significant recent research (Lobo and Dias 2007; Hol, Schn, and Gustafsson 2010; Martinelli 2012) and we believe that the general approach taken in this article may have application to calibration problem, however, such an investigation is beyond the scope of this article...

    Robert Mahonyet al. Nonlinear complementary filters on the special linear group

    • ...Dias in [11] investigated the cooperation between visual and inertial information. Lobo and Dias [16]...
    • ...In order to estimate the rotation between camera and IS ( IS RC) , Camera Inertial Calibration Toolbox [16] is used which is a toolbox to calibrate a rigid IS-camera...
    • ...A MTi-Xsens containing gyroscopes, accelerometers and magnetometers is used as the IS. Firstly the intrinsic parameters of each camera is estimated using Bouguet Camera Calibration Toolbox[9] and then Camera Inertial Calibration Toolbox [16] is used for the sake of extrinsic calibration between the camera and IS. Fig. 12 illustrates the scene and Fig. 11 shows two snapshots of the scene...
    • ...Bouguet’s method [9]) . Step 2- Calibrating the couple(s) of IS-camera (relative transformation among the camera and IS in each couple, by using Lobo’s method [16] ). Step 3- Marking two 3D points in the scene and measuring just their height w.r.t one still camera...

    Hadi Aliakbarpouret al. Inertial-visual fusion for camera network calibration

    • ...As in [36], we use gravity as a vertical reference...
    • ...In contrast to [36], we formulate this as a combined non-linear LS problem...

    Christoph Hertzberget al. Experiences in building a visual SLAM system from open source componen...

    • ...We assume that the camera and the IMU are calibrated, that is, both their intrinsic and extrinsic parameters are known (this is possible by using off-the-shelf toolboxes like [20, 21])...
    • ...The extrinsic calibration of the IMU is realized using the camera-inertial calibration toolkit by Lobo [21]...

    Laurent Kneipet al. Closed-form solution for absolute scale velocity determination combini...

    • ...Lobo and Dias make use of the gravitation vector, measured by the accelerometers, and a vertical calibration pattern to estimate the rotational alignment of the inertial-visual system [6], [7]...

    Michael Flepset al. Optimization based IMU camera calibration

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