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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)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 2008. , 10 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2855
Keyword [en]
Pose estimation, Sensor fusion, Computer vision, Inertial navigation, Calibration
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56170ISRN: LiTH-ISY-R-2855OAI: oai:DiVA.org:liu-56170DiVA: diva2:316926
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-08-12Bibliographically approved

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fulltext(581 kB)123 downloads
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Authority records BETA

Hol, JeroenSchön, ThomasGustafsson, Fredrik

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CiteExportLink to record
Permanent link

Direct link
Cite
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