High-fidelity sensor modeling and self-calibration in vision-aided inertial navigation

  title={High-fidelity sensor modeling and self-calibration in vision-aided inertial navigation},
  author={Mingyang Li and H. Yu and X. Zheng and Anastasios I. Mourikis},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  • Mingyang Li, H. Yu, +1 author Anastasios I. Mourikis
  • Published 2014
  • Computer Science, Engineering
  • 2014 IEEE International Conference on Robotics and Automation (ICRA)
  • In this paper, we propose a high-precision pose estimation algorithm for systems equipped with low-cost inertial sensors and rolling-shutter cameras. The key characteristic of the proposed method is that it performs online self-calibration of the camera and the IMU, using detailed models for both sensors and for their relative configuration. Specifically, the estimated parameters include the camera intrinsics (focal length, principal point, and lens distortion), the readout time of the rolling… CONTINUE READING
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