Matrix computations (3rd ed.)
Nonlinear Control Systems
Structure from Motion Causally Integrated Over Time
IEEE Transactions on Pattern Analysis and Machine Intelligence
Optimal motion estimation from visual and inertial measurements
WACV '02 Proceedings of the Sixth IEEE Workshop on Applications of Computer Vision
An Invitation to 3-D Vision: From Images to Geometric Models
An Invitation to 3-D Vision: From Images to Geometric Models
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Motion estimation from image and inertial measurements
Motion estimation from image and inertial measurements
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Simultaneous Motion and Structure Estimation by Fusion of Inertial and Vision Data
International Journal of Robotics Research
Relative Pose Calibration Between Visual and Inertial Sensors
International Journal of Robotics Research
Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Filtering and System Identification: A Least Squares Approach
Filtering and System Identification: A Least Squares Approach
Aided Navigation: GPS with High Rate Sensors
Aided Navigation: GPS with High Rate Sensors
Relative pose calibration of a spherical camera and an IMU
ISMAR '08 Proceedings of the 7th IEEE/ACM International Symposium on Mixed and Augmented Reality
Vision-aided inertial navigation for spacecraft entry, descent, and landing
IEEE Transactions on Robotics
On Kalman Filtering With Nonlinear Equality Constraints
IEEE Transactions on Signal Processing
IEEE Transactions on Robotics
International Journal of Robotics Research
Opportunities and challenges with autonomous micro aerial vehicles
International Journal of Robotics Research
High-precision, consistent EKF-based visual-inertial odometry
International Journal of Robotics Research
Camera-IMU-based localization: Observability analysis and consistency improvement
International Journal of Robotics Research
Closed-Form Solution of Visual-Inertial Structure from Motion
International Journal of Computer Vision
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Visual and inertial sensors, in combination, are able to provide accurate motion estimates and are well suited for use in many robot navigation tasks. However, correct data fusion, and hence overall performance, depends on careful calibration of the rigid body transform between the sensors. Obtaining this calibration information is typically difficult and time-consuming, and normally requires additional equipment. In this paper we describe an algorithm, based on the unscented Kalman filter, for self-calibration of the transform between a camera and an inertial measurement unit (IMU). Our formulation rests on a differential geometric analysis of the observability of the cameraâ聙聰IMU system; this analysis shows that the sensor-to-sensor transform, the IMU gyroscope and accelerometer biases, the local gravity vector, and the metric scene structure can be recovered from camera and IMU measurements alone. While calibrating the transform we simultaneously localize the IMU and build a map of the surroundings, all without additional hardware or prior knowledge about the environment in which a robot is operating. We present results from simulation studies and from experiments with a monocular camera and a low-cost IMU, which demonstrate accurate estimation of both the calibration parameters and the local scene structure.