Joint calibration of an inertial measurement unit and coordinate transformation parameters using a monocular camera
2010 (English)In: 2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010, IEEE conference proceedings, 2010, 1-7 p.Conference paper (Refereed)
An estimation procedure for calibration of a low-cost inertial measurement unit (IMU), using a rigidly mounted monocular camera, is presented. The parameters of a sensor model that captures misalignments, scale and offset errors are estimated jointly with the IMU-camera coordinate transformation parameters using a recursive Sigma-Point Kalman Filter. The method requires only a simple visual calibration pattern. A simulation study indicates the filter's ability to reach subcentimeter and subdegree accuracy.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2010. 1-7 p.
Calibration patterns, Co-ordinate transformation, Estimation procedures, Inertial measurement unit, Joint calibration, Monocular cameras, Offset errors, Sensor model, Sigma-point Kalman filters, Simulation studies, Cameras, Navigation, Sensors, Units of measurement, Calibration
Signal Processing Control Engineering
IdentifiersURN: urn:nbn:se:kth:diva-32314DOI: 10.1109/IPIN.2010.5646840ISI: 000345209100030ScopusID: 2-s2.0-78650733532ISBN: 9781424458646OAI: oai:DiVA.org:kth-32314DiVA: diva2:410039
2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010. Zurich. 15 September 2010 - 17 September 2010
QC 201104122012-10-052011-04-122015-06-10Bibliographically approved