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A New Algorithm for Calibrating a Combined Camera and IMU Sensor Unit
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 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.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2858
Keyword [en]
Gray-box system identification, Kalman filter, Calibration, IMU, Camera
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56174ISRN: LiTH-ISY-R-2858OAI: oai:DiVA.org:liu-56174DiVA: diva2:316995
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-08-11Bibliographically approved

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Authority records BETA

Hol, JeroenSchön, ThomasGustafsson, Fredrik

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CiteExportLink to record
Permanent link

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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