Relative Pose Calibration of a Spherical Camera and an IMU
2008 (English)In: Proceedings of the 7th IEEE and ACM International Symposium on Mixed and Augmented Reality, 2008, 21-24 p.Conference paper (Refereed)
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.
Pose estimation, Sensor fusion, Computer vision, Intertial navigation, Calibration
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-44268DOI: 10.1109/ISMAR.2008.4637318Local ID: 76145ISBN: 978-1-4244-2859-5ISBN: 978-1-4244-2840-3OAI: oai:DiVA.org:liu-44268DiVA: diva2:265130
7th IEEE and ACM International Symposium on Mixed and Augmented Reality, Cambridge, UK, September, 2008