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Extrinsic Parameter Calibration Method for a Visual/Inertial Integrated System with a Predefined Mechanical Interface

1
State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China
2
Astronaut Center of China, Beijing 100094, China
*
Authors to whom correspondence should be addressed.
Sensors 2019, 19(14), 3086; https://doi.org/10.3390/s19143086
Received: 31 May 2019 / Revised: 29 June 2019 / Accepted: 10 July 2019 / Published: 12 July 2019
(This article belongs to the Section Physical Sensors)
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Abstract

For a visual/inertial integrated system, the calibration of extrinsic parameters plays a crucial role in ensuring accurate navigation and measurement. In this work, a novel extrinsic parameter calibration method is developed based on the geometrical constraints in the object space and is implemented by manual swing. The camera and IMU frames are aligned to the system body frame, which is predefined by the mechanical interface. With a swinging motion, the fixed checkerboard provides constraints for calibrating the extrinsic parameters of the camera, whereas angular velocity and acceleration provides constraints for calibrating the extrinsic parameters of the IMU. We exploit the complementary nature of both the camera and IMU, of which the latter assists in the checkerboard corner detection and correction while the former suppresses the effects of IMU drift. The results of the calibration experiment reveal that the extrinsic parameter accuracy reaches 0.04° for each Euler angle and 0.15 mm for each position vector component (1σ). View Full-Text
Keywords: visual/inertial integrated system; extrinsic parameter calibration; corner detection; motion blur visual/inertial integrated system; extrinsic parameter calibration; corner detection; motion blur
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Ouyang, C.; Shi, S.; You, Z.; Zhao, K. Extrinsic Parameter Calibration Method for a Visual/Inertial Integrated System with a Predefined Mechanical Interface. Sensors 2019, 19, 3086.

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