A new calibration method for an inertial and visual sensing system

Authors:
De Xu;Hua-Wei Wang;You-Fu Li;Min Tan
Affiliations:
State Key Laboratory of Intelligent Control and Management of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, PRC 100190;East China Research Institute of Electronic Engineering, Hefei, PRC 230088;Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Hong Kong, PRC;State Key Laboratory of Intelligent Control and Management of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, PRC 100190
Venue:
International Journal of Automation and Computing
Year:
2012

Citing 0
Cited 2

Learning robotic hand-eye coordination through a developmental constraint driven approach

International Journal of Automation and Computing
Real-time visual odometry estimation based on principal direction detection on ceiling vision

International Journal of Automation and Computing

Quantified Score

Hi-index	0.00

Visualization

Abstract

The relative pose between inertial and visual sensors equipped in autonomous robots is calibrated in two steps. In the first step, the sensing system is moved along a line, the orientations in the relative pose are computed from at least five corresponding points in the two images captured before and after the movement. In the second step, the translation parameters in the relative pose are obtained with at least two corresponding points in the two images captured before and after one step motion. Experiments are conducted to verify the effectiveness of the proposed method.