3-D motion estimation and online temporal calibration for camera-IMU systems

@article{Li20133DME,
  title={3-D motion estimation and online temporal calibration for camera-IMU systems},
  author={Mingyang Li and Anastasios I. Mourikis},
  journal={2013 IEEE International Conference on Robotics and Automation},
  year={2013},
  pages={5709-5716}
}
When measurements from multiple sensors are combined for real-time motion estimation, the time instant at which each measurement was recorded must be precisely known. In practice, however, the timestamps of each sensor's measurements are typically affected by a delay, which is different for each sensor. This gives rise to a temporal misalignment (i.e., a time offset) between the sensors' data streams. In this work, we propose an online approach for estimating the time offset between the data… CONTINUE READING
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