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Mirror Based IMU-Camera and Internal Camera Calibration
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. 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.ORCID iD: 0000-0002-6855-5868
2011 (English)In: First International Conference on Robot, Vision and Signal Processing (RVSP), 2011, IEEE , 2011, 199-203 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, a novel method for estimating the transformation between an inertial measurement unit (IMU) and a camera together with the intrinsic parameters of the camera is proposed. The method relies on images of reflected feature points in a planar mirror captured by an uncalibrated camera mounted with an IMU. It does not rely on using a fixed calibration pattern in front of the moving camera and the motion is not limited to be planar in front of the mirror. Instead, known feature points located on the camera body are tracked over the time to estimate the IMU-camera transformation and camera intrinsic parameters. A state-space model of the system is derived and then used as input to the Sigma-Point Kalman filter framework. Simulation results show accurate estimation of both IMU-camera translation and rotation parameters as well as the camera intrinsic parameters.

Place, publisher, year, edition, pages
IEEE , 2011. 199-203 p.
Keyword [en]
Inertial measurement unit, camera, calibration, Sigma-Point Kalman filter
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-52891DOI: 10.1109/RVSP.2011.66Scopus ID: 2-s2.0-84856547401ISBN: 978-1-4577-1881-6 (print)OAI: oai:DiVA.org:kth-52891DiVA: diva2:468128
Conference
The First International Conference on Robot, Vision and Signal Processing, November 21-23, 2011, Kaohsiung, Taiwan
Funder
ICT - The Next Generation
Note
© 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20111220Available from: 2011-12-20 Created: 2011-12-20 Last updated: 2012-06-13Bibliographically approved

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