Online Temporal Calibration of Camera and IMU using Nonlinear Optimization

	Online Temporal Calibration of Camera and IMU using Nonlinear Optimization
	Liu, Jinxu1,2 ; Gao, Wei1,2 ; Hu, Zhanyi1,2
	2018-08-20
会议名称	2018 24th International Conference on Pattern Recognition (ICPR)
会议日期	2018年8月20日至24日
会议地点	中国北京
出版者	IEEE
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.
语种	英语
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/44972
专题	多模态人工智能系统全国重点实验室_机器人视觉中国科学院自动化研究所
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
第一作者单位	模式识别国家重点实验室
通讯作者单位	模式识别国家重点实验室
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]:IEEE,2018.

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