Relative pose calibration of a spherical camera and an IMU

Authors:
Jeroen D. Hol;Thomas B. Schony;Fredrik Gustafsson
Affiliations:
Xsens Technologies B.V., Enschede, The Netherlands;Division of Automatic Control, Linkoping University, Sweden;Division of Automatic Control, Linkoping University, Sweden
Venue:
ISMAR '08 Proceedings of the 7th IEEE/ACM International Symposium on Mixed and Augmented Reality
Year:
2008

Citing 4
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Abstract

This paper is concerned with the problem of estimating the relative translation and orientation of an inertial measurement unit and a spherical camera, which are rigidly connected. The key is to realize that this problem is in fact an instance of a standard problem within the area of system identification, referred to as a gray-box problem. We propose a new algorithm for estimating the relative translation and orientation, which does not require any additional hardware, except a piece of paper with a checkerboard pattern on it. The experimental results show that the method works well in practice.