Optimal Hand-Eye Calibration of IMU and Camera

被引：0

作者：

Yang, Guang ^{[1
]}

Zhao, Long ^{[1
]}

机构：

[1] Beihang Univ, Digital Nav Ctr, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China

来源：

2017 CHINESE AUTOMATION CONGRESS (CAC) | 2017年

基金：

北京市自然科学基金; 中国国家自然科学基金;

关键词：

Hand-Eye Calibration; Jacobian; optimization; Lie algebra;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Hand-Eye Calibration (HEC) which is necessary in robotics is proposed to determine the relative transformations between the camera and the Inertial Measurement Unit (IMU) in this paper. We know HEC could be degenerated into the problem of solving an optimization issue for the homogeneous matrix composed of rotation and translation. After acquiring an initial estimation with Kronecker product and singular value decomposition, this paper mainly introduces the Gaussian-Newton algorithm in which the Jacobian matrix is calculated by Lie algebra to optimize the estimation. The optimization presented in this paper is executed on realistic data and the experimental results show our algorithm brings an improvement on the initial value and obtains more precise results than the other optimization using classical computation of Jacobian matrix.

引用

页码：1023 / 1028

页数：6

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