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Joint calibration of an inertial measurement unit and coordinate transformation parameters using a monocular camera
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-6855-5868
2010 (English)In: 2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010, IEEE conference proceedings, 2010, 1-7 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
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
National Category
Signal Processing Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-32314DOI: 10.1109/IPIN.2010.5646840ISI: 000345209100030Scopus ID: 2-s2.0-78650733532ISBN: 9781424458646 (print)OAI: oai:DiVA.org:kth-32314DiVA: diva2:410039
Conference
2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010. Zurich. 15 September 2010 - 17 September 2010
Note

QC 20110412

Available from: 2012-10-05 Created: 2011-04-12 Last updated: 2015-06-10Bibliographically approved
In thesis
1. Fusing Visual and Inertial Information
Open this publication in new window or tab >>Fusing Visual and Inertial Information
2011 (English)Licentiate thesis, comprehensive summary (Other academic)
Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2011. vii, 21 p.
Series
Trita-EE, ISSN 1653-5146 ; 2011:023
Keyword
sensor fusion, inertial measurement unit, monocular camera, inertial navigation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-32112 (URN)978-91-7415-919-6 (ISBN)
Presentation
2011-04-05, Q2, KTH Royal Institute of Technology, Stockholm, 13:15 (English)
Opponent
Supervisors
Note
QC 20110412Available from: 2011-04-12 Created: 2011-04-06 Last updated: 2011-04-12Bibliographically approved

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • ieee
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Language
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Output format
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  • asciidoc
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