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Relative Pose Calibration of a Spherical Camera and an IMU
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2008 (English)In: Proceedings of the 7th IEEE and ACM International Symposium on Mixed and Augmented Reality, 2008, 21-24 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
2008. 21-24 p.
Keyword [en]
Pose estimation, Sensor fusion, Computer vision, Intertial navigation, Calibration
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-44268DOI: 10.1109/ISMAR.2008.4637318Local ID: 76145ISBN: 978-1-4244-2859-5 (print)ISBN: 978-1-4244-2840-3 (print)OAI: oai:DiVA.org:liu-44268DiVA: diva2:265130
Conference
7th IEEE and ACM International Symposium on Mixed and Augmented Reality, Cambridge, UK, September, 2008
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2013-02-21

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Hol, JeroenSchön, ThomasGustafsson, Fredrik

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf