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Online Spatial and Temporal Calibration for Monocular Direct Visual-Inertial Odometry
- Source :
- Sensors (Basel, Switzerland), Sensors, Volume 19, Issue 10, Sensors, Vol 19, Iss 10, p 2273 (2019)
- Publication Year :
- 2019
-
Abstract
- Owing to the nonlinearity in visual-inertial state estimation, sufficiently accurate initial states, especially the spatial and temporal parameters between IMU (Inertial Measurement Unit) and camera, should be provided to avoid divergence. Moreover, these parameters are required to be calibrated online since they are likely to vary once the mechanical configuration slightly changes. Recently, direct approaches have gained popularity for their better performance than feature-based approaches in little-texture or low-illumination environments, taking advantage of tracking pixels directly. Based on these considerations, we perform a direct version of monocular VIO (Visual-inertial Odometry), and propose a novel approach to initialize the spatial-temporal parameters and estimate them with all other variables of interest (IMU pose, point inverse depth, etc.). We highlight that our approach is able to perform robust and accurate initialization and online calibration for the spatial and temporal parameters without utilizing any prior information, and also achieves high-precision estimates even when large temporal offset occurs. The performance of the proposed approach was verified through the public UAV (Unmanned Aerial Vehicle) dataset.
- Subjects :
- 0209 industrial biotechnology
Inertial frame of reference
Computer science
spatial-temporal parameters
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
Initialization
02 engineering and technology
lcsh:Chemical technology
Biochemistry
online calibration
Article
Analytical Chemistry
020901 industrial engineering & automation
Odometry
Inertial measurement unit
0202 electrical engineering, electronic engineering, information engineering
lcsh:TP1-1185
Computer vision
Electrical and Electronic Engineering
Instrumentation
direct approach
Monocular
Pixel
business.industry
Atomic and Molecular Physics, and Optics
020201 artificial intelligence & image processing
Artificial intelligence
business
visual-inertial odometry
Subjects
Details
- ISSN :
- 14248220
- Volume :
- 19
- Issue :
- 10
- Database :
- OpenAIRE
- Journal :
- Sensors (Basel, Switzerland)
- Accession number :
- edsair.doi.dedup.....6feae8ad3a9d60a68aaaaac46dee85cb