A nonlinear observer approach for concurrent estimation of pose, IMU Bias and camera-to-IMU rotation.
Glauco Garcia ScandaroliPascal MorinGeraldo F. SilveiraPublished in: IROS (2011)
Keyphrases
- inertial measurement unit
- inertial sensors
- relative pose
- position and orientation
- visual odometry
- monocular camera
- feature tracking
- intrinsic parameters
- rotation and translation
- pose estimation
- absolute position
- object pose
- d objects
- weak perspective projection
- estimation accuracy
- rigid motion
- field of view
- structure from motion
- model based pose estimation
- scene structure
- closed form solutions
- pose determination
- pose estimates
- camera calibration
- computer vision