Estimator initialization in vision-aided inertial navigation with unknown camera-IMU calibration.
Tue-Cuong Dong-SiAnastasios I. MourikisPublished in: IROS (2012)
Keyphrases
- inertial measurement unit
- inertial navigation
- inertial sensors
- vision system
- camera calibration
- focal length
- camera parameters
- intrinsic parameters
- calibration method
- relative pose
- stereo camera
- autocalibration
- visual odometry
- computer vision
- calibration procedure
- feature tracking
- camera network
- sensor fusion
- wide angle lenses
- scene structure
- hand eye calibration
- lens distortion
- maximum likelihood
- real time
- structure from motion
- field of view
- camera projector
- camera orientation
- principal point
- gaze estimation
- multiple cameras
- laser rangefinder
- radiometric calibration
- optical center
- white balance
- pan tilt
- projector camera
- ptz cameras
- imaging model
- least squares
- radially symmetric
- gaze tracking
- radial distortion
- head movements