Fast Relative Pose Calibration for Visual and Inertial Sensors

  title={Fast Relative Pose Calibration for Visual and Inertial Sensors},
  author={Jonathan Kelly and Gaurav S. Sukhatme},
Accurate vision-aided inertial navigation depends on proper calibration of the relative pose of the camera and the inertial measurement unit (IMU). Calibration errors introduce bias in the overall motion estimate, degrading navigation performance sometimes dramatically. However, existing camera-IMU calibration techniques are difficult, time-consuming and often require additional complex apparatus. In this paper, we formulate the camera-IMU relative pose calibration problem in a filtering… CONTINUE READING
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