A New Calibration Method for an Inertial and Visual Sensing System

被引：3
|
作者：
De Xu1 Hua-Wei Wang2 You-Fu Li3 Min Tan1 1State Key Laboratory of Intelligent Control and Management of Complex Systems
机构：
来源：
International Journal of Automation and Computing | 2012年 / 03期
基金：
中国国家自然科学基金; 北京市自然科学基金;
关键词：
Inertial sensor; visual sensor; calibration; motion estimation; robot vision;
D O I：
暂无
中图分类号：
TP391.41 []; TP242 [机器人];
学科分类号：
080203 ; 1111 ;
摘要：
The relative pose between inertial and visual sensors equipped in autonomous robots is calibrated in two steps. In the first step, the sensing system is moved along a line, the orientations in the relative pose are computed from at least five corresponding points in the two images captured before and after the movement. In the second step, the translation parameters in the relative pose are obtained with at least two corresponding points in the two images captured before and after one step motion. Experiments are conducted to verify the effectiveness of the proposed method.
引用
收藏
页码：299 / 305
页数：7
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