Observability-aware Self-Calibration of Visual and Inertial Sensors for Ego-Motion Estimation.
Thomas SchneiderMingyang LiCesar CadenaJuan I. NietoRoland SiegwartPublished in: CoRR (2019)
Keyphrases
- inertial sensors
- ego motion estimation
- motion sequences
- visual navigation
- sensor fusion
- calibration method
- position and orientation
- human motion
- particle filtering
- ego motion
- camera motion
- motion capture
- motion segmentation
- camera calibration
- video sequences
- visual odometry
- human body
- field of view
- closed form
- multiple views
- robust estimation
- multi camera
- extended kalman filter
- motion analysis
- kalman filter