liu.seSearch for publications in DiVA
Change search
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
Modeling and Calibration of Inertial and Vision Sensors
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.
2009 (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 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 method is based on a physical model which can also be used in solving, for example, sensor fusion problems. The experimental results show that the method works well in practice, both for perspective and spherical cameras.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2009. , 27 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2916
Keyword [en]
Pose estimation, Sensor fusion, Computer vision, Inertial navigation, Calibration
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56213ISRN: LiTH-ISY-R-2916OAI: oai:DiVA.org:liu-56213DiVA: diva2:317017
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-08-11Bibliographically approved

Open Access in DiVA

fulltext(1210 kB)336 downloads
File information
File name FULLTEXT01.pdfFile size 1210 kBChecksum SHA-512
ed96cb978d7addfad532ffa85bf518c06abf74113d027f48dfd364c82ed00940d869d7fac1199b4b08290718081aab4274c5c15eb0398eaf0b65c849dc321d5e
Type fulltextMimetype application/pdf

Authority records BETA

Hol, JeroenSchön, ThomasGustafsson, Fredrik

Search in DiVA

By author/editor
Hol, JeroenSchön, ThomasGustafsson, Fredrik
By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 336 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 145 hits
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