A New Algorithm for Calibrating a Combined Camera and IMU Sensor Unit
2008 (English)In: Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision, 2008, 1857-1862 p.Conference paper (Refereed)
This paper is concerned with the problem of estimating the relative translation and orientation between an inertial measurement unit and a camera which are rigidly connected. The key is to realise 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. Furthermore, covariance expressions are provided for all involved estimates. The experimental results shows that the method works well in practice.
Place, publisher, year, edition, pages
2008. 1857-1862 p.
Gray-box system identification, IMU, Kalman filter, Calibration, Camera
IdentifiersURN: urn:nbn:se:liu:diva-44266DOI: 10.1109/ICARCV.2008.4795810Local ID: 76142ISBN: 978-1-4244-2287-6ISBN: 978-1-4244-2286-9OAI: oai:DiVA.org:liu-44266DiVA: diva2:265128
10th International Conference on Control, Automation, Robotics and Vision, Hanoi, Vietnam, December, 2008