Environment Driven Underwater Camera-IMU Calibration for Monocular Visual-Inertial SLAM.
Changjun GuYang CongGan SunPublished in: ICRA (2019)
Keyphrases
- inertial sensors
- monocular camera
- visual slam
- inertial measurement unit
- sensor fusion
- mobile robot
- position and orientation
- monocular slam
- visual odometry
- pose estimation
- calibration method
- motion sequences
- markerless
- extended kalman filter
- visual sensor
- mobile robotics
- real time
- stereo camera
- motion tracking
- indoor environments
- autonomous navigation
- image sequences
- simultaneous localization and mapping
- dynamic environments
- camera calibration
- focal length
- relative pose
- kalman filter
- calibration procedure
- particle filter
- narrow field of view
- outdoor environments
- ego motion
- camera parameters
- human body
- laser range sensor