A New Algorithm for Calibrating a Combined Camera and IMU Sensor Unit
2008 (English)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 2008. , 17 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2858
Gray-box system identification, Kalman filter, Calibration, IMU, Camera
National CategoryControl Engineering
IdentifiersURN: urn:nbn:se:liu:diva-56174ISRN: LiTH-ISY-R-2858OAI: oai:DiVA.org:liu-56174DiVA: diva2:316995