Environment driven underwater camera-IMU calibration for monocular visual-inertial SLAM
Sun G(孙干)1,2; Gu CJ(古长军)1,2; Cong Y(丛杨)2
2019
会议日期May 20-24, 2019
会议地点Montreal, QC, Canada
页码2405-2411
英文摘要Most state-of-the-art underwater vision systems are calibrated manually in shallow water and used in open seas without changing. However, the refractivity of the water is adaptively changed depending on the salinity, temperature, depth or other underwater environmental indexes, which inevitably generate the calibration errors and induces incorrectness e.g., for underwater Simultaneously Localization and Mapping (SLAM). To address this issue, in this paper, we propose a new underwater Camera-Inertial Measurement Unit (IMU) calibration model, which just needs to be calibrated once in the air, and then both the intrinsic parameters and extrinsic parameters between the camera and IMU could be automatically calculated depending on the environment indexes. To our best knowledge, this is the first work to consider the underwater Camera-IMU calibration via environmental indexes. We also build a verification platform to validate the effectiveness of our proposed method on real experiments, and use it for underwater monocular Visual-Inertial SLAM.
源文献作者Bosch ; DJI ; et al. ; Kinova ; Mercedes-Benz ; Samsung
产权排序1
会议录2019 International Conference on Robotics and Automation, ICRA 2019
会议录出版者IEEE
会议录出版地New York
语种英语
ISSN号1050-4729
ISBN号978-1-5386-6026-3
内容类型会议论文
源URL[http://ir.sia.cn/handle/173321/25514]  
专题沈阳自动化研究所_机器人学研究室
通讯作者Cong Y(丛杨)
作者单位1.University of Chinese Academy of Sciences, Beijing, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Sun G,Gu CJ,Cong Y. Environment driven underwater camera-IMU calibration for monocular visual-inertial SLAM[C]. 见:. Montreal, QC, Canada. May 20-24, 2019.
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