IMU-RGBD camera 3D pose estimation and extrinsic calibration: Observability analysis and consistency improvement

@article{Guo2013IMURGBDC3,
  title={IMU-RGBD camera 3D pose estimation and extrinsic calibration: Observability analysis and consistency improvement},
  author={Chao X. Guo and Stergios I. Roumeliotis},
  journal={2013 IEEE International Conference on Robotics and Automation},
  year={2013},
  pages={2935-2942}
}
In this paper, we address the problem of extrinsically calibrating an inertial measurement unit (IMU) with respect to an RGBD sensor. In particular, we study the observability of the nonlinear IMU-RGBD calibration system and prove that the calibration parameters are observable given observations to a single point feature. Moreover, we show that the system has four unobservable directions corresponding to the global translation and rotations about the gravity vector. Based on the results of the… CONTINUE READING
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