| Online Temporal Calibration of Camera and IMU using Nonlinear Optimization | |
| Liu, Jinxu1,2; Gao, Wei1,2; Hu, Zhanyi1,2 | |
| 2018-08-20 | |
| 会议日期 | 2018年8月20日至24日 |
| 会议地点 | 中国北京 |
| 英文摘要 | In this paper, we aim to calibrate the time delay of timestamps of cameras and IMU measurements provided by Android smart phones or other low-cost devices whose camera and IMU are not temporally aligned. The time delay is estimated online in an iterative way through nonlinear optimization in sliding windows. We add new terms that are relative to time delay to the pre-integration results of IMU measurements instead of feature observations in order to improve the precision of temporal calibration. The experimental results indicate that our calibration result is closer to the real value compared with the state-of-the-art system and that our method appears to converge faster. By using our temporal calibration, the visual inertial odometry algorithm is less likely to suffer from fast turning or sudden stop. |
| 会议录出版者 | IEEE |
| 语种 | 英语 |
| 内容类型 | 会议论文 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/44972]  |
| 专题 | 自动化研究所_模式识别国家重点实验室_机器人视觉团队 |
| 通讯作者 | Gao, Wei |
| 作者单位 | 1.NLPR, Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences |
| 推荐引用方式 GB/T 7714 | Liu, Jinxu,Gao, Wei,Hu, Zhanyi. Online Temporal Calibration of Camera and IMU using Nonlinear Optimization[C]. 见:. 中国北京. 2018年8月20日至24日. |
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