Online Initialization and Automatic Camera-IMU Extrinsic Calibration for Monocular Visual-Inertial SLAM.
Weibo HuangHong LiuPublished in: ICRA (2018)
Keyphrases
- inertial sensors
- monocular camera
- visual slam
- inertial measurement unit
- sensor fusion
- position and orientation
- monocular slam
- calibration method
- camera calibration
- motion sequences
- visual odometry
- image sequences
- motion estimates
- extended kalman filter
- motion tracking
- camera parameters
- pose estimation
- mobile robot
- camera motion
- real time
- structure from motion
- simultaneous localization and mapping
- visual sensor
- field of view
- projective geometry
- ego motion
- intrinsic parameters
- mobile robotics
- relative pose
- calibration procedure
- stereo camera
- multi view
- focal length
- multiple cameras
- dynamic scenes