Relative Pose Calibration of a Spherical Camera and an IMU
2008 (English)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 2008. , 10 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2855
Pose estimation, Sensor fusion, Computer vision, Inertial navigation, Calibration
National CategoryControl Engineering
IdentifiersURN: urn:nbn:se:liu:diva-56170ISRN: LiTH-ISY-R-2855OAI: oai:DiVA.org:liu-56170DiVA: diva2:316926