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Extrinsic Calibration of Multiple Inertial Sensors from Arbitrary Trajectories

Jongwon Lee, David Hanley, Timothy Bretl
2022 IEEE Robotics and Automation Letters  
We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs  ...  We also show that the performance of our method is largely insensitive to the choice of trajectory along which IMU measurements are collected.  ...  TABLE I : I COMPARING DIFFERENT METHODS OF EXTRINSIC CALIBRATION FOR MULTIPLE IMUS characteristics estimated quantities method free from camera? arbitrary trajectory? code available?  ... 
doi:10.1109/lra.2022.3143290 fatcat:vjuybso3x5hcrbex4um7ccayxu

LaFiDa—A Laserscanner Multi-Fisheye Camera Dataset

Steffen Urban, Boris Jutzi
2017 Journal of Imaging  
In total, six trajectories are provided. Each trajectory also comprises intrinsic and extrinsic calibration parameters and related measurements for all sensors.  ...  Furthermore, we generalize the most common toolbox for an extrinsic laserscanner to camera calibration to work with arbitrary central cameras, such as omnidirectional or fisheye projections.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/jimaging3010005 fatcat:ndntsecrtbhwnps5h5577jk32m

Augmented Feature Point Initialization Method for Vision/Lidar Aided 6-DoF Bearing-Only Inertial SLAM

Sukchang Yun, Byoungjin Lee, Yeon-Jo Kim, Young Jae Lee, Sangkyung Sung
2016 Journal of Electrical Engineering and Technology  
Prior to the initialization, an extrinsic calibration method which estimates rotational and translational relationships between a vision sensor and lidar using multiple calibration tools was employed,  ...  then the feature point initialization method based on the estimated extrinsic calibration parameters was presented.  ...  First, for each calibration tool, sensor data is acquired from a vision sensor and a lidar within the sensing range of sensors.  ... 
doi:10.5370/jeet.2016.11.6.1846 fatcat:62xhmfkmfjdjvgbp5thsljlrya

FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms [article]

Jianhao Jiao, Hexiang Wei, Tianshuai Hu, Xiangcheng Hu, Yilong Zhu, Zhijian He, Jin Wu, Jingwen Yu, Xupeng Xie, Huaiyang Huang, Ruoyu Geng, Lujia Wang (+1 others)
2022 arXiv   pre-print
cameras, 200Hz inertial readings from an IMU, and 10Hz GPS signal.  ...  The dataset, consisting of raw sensor easurements, ground truth, calibration data, and evaluated algorithms, will be released: https://ram-lab.com/file/site/multi-sensor-dataset.  ...  The extrinsics from the balls' center to the body frame of the sensor rig are solved by the hand-eye calibration approach.  ... 
arXiv:2208.11865v1 fatcat:5slfyet7wnbjbb36u3dlkyugym

Lost in translation (and rotation): Rapid extrinsic calibration for 2D and 3D LIDARs

Will Maddern, Alastair Harrison, Paul Newman
2012 2012 IEEE International Conference on Robotics and Automation  
This paper describes a novel method for determining the extrinsic calibration parameters between 2D and 3D LIDAR sensors with respect to a vehicle base frame.  ...  The point cloud quality metric is derived from Rényi Quadratic Entropy and quantifies the compactness of the point distribution using only a single tuning parameter.  ...  An observability analysis of required vehicle motion for successful calibration is provided in [13] , which calibrates the extrinsics of multiple 2D LIDAR sensors on a moving platform.  ... 
doi:10.1109/icra.2012.6224607 dblp:conf/icra/MaddernHN12 fatcat:zvfxv6cjwjc6fa72scv6pbenea

Extending kalibr: Calibrating the extrinsics of multiple IMUs and of individual axes

Joern Rehder, Janosch Nikolic, Thomas Schneider, Timo Hinzmann, Roland Siegwart
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
An increasing number of robotic systems feature multiple inertial measurement units (IMUs).  ...  In this work, we derive a method for spatially calibrating multiple IMUs in a single estimator based on the open-source camera/IMU calibration toolbox kalibr.  ...  the continuous-time batch estimator framework that enabled this work, Gabriel Agamennoni for interesting discussions on the topic, and Christian Krebs for laying the groundwork for our IMU intrinsic calibration  ... 
doi:10.1109/icra.2016.7487628 dblp:conf/icra/RehderNSHS16 fatcat:5p2qdxg4jvaf7ajri2uxxxb5um

Spline Fusion: A continuous-time representation for visual-inertial fusion with application to rolling shutter cameras

Steven Lovegrove, Alonso Patron-Perez, Gabe Sibley
2013 Procedings of the British Machine Vision Conference 2013  
We demonstrate the applicability of the method for multi-sensor visual-inertial SLAM and calibration by accurately establishing the relative pose and internal parameters of multiple unsynchronized devices  ...  This paper describes a general continuous-time framework for visual-inertial simultaneous localization and mapping and calibration.  ...  We have also shown visual-inertial calibration of camera intrinsics and IMU-to-camera extrinsics from real data given accurate correspondences.  ... 
doi:10.5244/c.27.93 dblp:conf/bmvc/LovegrovePS13 fatcat:5zubwrjfwfeq5lu7w7m7nymgxe

Optimization-Based Online Initialization and Calibration of Monocular Visual-Inertial Odometry Considering Spatial-Temporal Constraints

Weibo Huang, Weiwei Wan, Hong Liu
2021 Sensors  
It estimates the initial states of metric-scale, velocity, gravity, Inertial Measurement Unit (IMU) biases, and calibrates the coordinate transformation and time offsets between the camera and IMU sensors  ...  The online system state initialization and simultaneous spatial-temporal calibration are critical for monocular Visual-Inertial Odometry (VIO) since these parameters are either not well provided or even  ...  [12, 13] extended the toolbox to calibrate both the extrinsic and intrinsic parameters of multiple IMUs.The drawback of offline calibration is the need for additional calibration steps and assistive  ... 
doi:10.3390/s21082673 pmid:33920218 fatcat:sfohyhddovfsrfpdnv2ri2qddi

A Robust Extrinsic Calibration Framework for Vehicles with Unscaled Sensors

Celyn Walters, Oscar Mendez, Simon Hadfield, Richard Bowden
2019 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots.  ...  To solve these limitations, we propose a flexible framework which can estimate extrinsic parameters without an explicit calibration stage, even for sensors with unknown scale.  ...  Its operation may be summarized as follows: First, sets of time-aligned poses from two arbitrary sensors are collected (black blocks, fig. 2 ).  ... 
doi:10.1109/iros40897.2019.8968244 dblp:conf/iros/WaltersMHB19 fatcat:xqtbr7j5uvhb5fdrftg6wyacwm

High Definition, Inexpensive, Underwater Mapping [article]

Bharat Joshi, Marios Xanthidis, Sharmin Rahman, Ioannis Rekleitis
2022 arXiv   pre-print
In this paper we present a complete framework for Underwater SLAM utilizing a single inexpensive sensor.  ...  The visual inertial SLAM framework is augmented to adjust the map after each loop closure.  ...  The authors are with the Computer Science and Engineering Department, University of South Carolina, Columbia, SC, USA, 29208, {bjoshi,mariosx,srahman}@email.sc.edu, yiannisr@cse.sc.edu.  ... 
arXiv:2203.05640v1 fatcat:twdkodjbg5ep7mgzrtuaiz2uqa

MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System [article]

Kevin Eckenhoff, Patrick Geneva, Guoquan Huang
2020 arXiv   pre-print
that is able to seamlessly fuse multi-modal information from an arbitrary number of uncalibrated cameras and IMUs.  ...  Lastly, we estimate online both spatiotemporal extrinsic and visual intrinsic parameters to make our system robust to errors in prior sensor calibration.  ...  [35] used a continuoustime basis function representation [22] of the sensor trajectory to calibrate both the extrinsics and intrinsics of a multi-IMU system in a batch-based setting.  ... 
arXiv:2006.15699v1 fatcat:r5dqpvmnxzhmnc4by75s4oglqy

A Factor Graph Approach to Multi-camera Extrinsic Calibration on Legged Robots

Andrzej Reinke, Marco Camurri, Claudio Semini
2019 2019 Third IEEE International Conference on Robotic Computing (IRC)  
In this paper, we focus on the problem of calibrating the relative pose between a set of cameras and the base link of a quadruped robot.  ...  A crucial aspect for these tasks is that all onboard sensors must be properly calibrated and synchronized to provide consistent signals for all the software modules they feed.  ...  Visual-Inertial extrinsic calibration is independent from robot kinematics. However, it requires homogeneous and smooth excitation on all the IMU axes to perform well.  ... 
doi:10.1109/irc.2019.00071 dblp:conf/irc/ReinkeCS19 fatcat:i6dh4qchnzbcdey3svgapxa2ky

Observability-Aware Self-Calibration of Visual and Inertial Sensors for Ego-Motion Estimation

Thomas Schneider, Mingyang Li, Cesar Cadena, Juan Nieto, Roland Siegwart
2019 IEEE Sensors Journal  
External effects such as shocks and temperature variations affect the calibration of visual-inertial sensor systems and thus they cannot fully rely on factory calibrations.  ...  With this approach, we are able to build compact calibration datasets either: (a) by selecting segments from a long session with limited exciting motion or (b) from multiple short sessions where a single  ...  INTRODUCTION I N this work, we present a sensor self-calibration method for visual-inertial ego-motion estimation frameworks i.e. systems that fuse visual information from one or multiple cameras with  ... 
doi:10.1109/jsen.2019.2893809 fatcat:6dfr237fubgoffzbhymuyfwnqm

Extrinsic Calibration and Verification of Multiple Non-overlapping Field of View Lidar Sensors [article]

Sandipan Das, Navid Mahabadi, Addi Djikic, Cesar Nassir, Saikat Chatterjee, Maurice Fallon
2022 arXiv   pre-print
We demonstrate a multi-lidar calibration framework for large mobile platforms that jointly calibrate the extrinsic parameters of non-overlapping Field-of-View (FoV) lidar sensors, without the need for  ...  This setup can also be scaled to any combination of multiple lidars.  ...  ACKNOWLEDGEMENTS This research has been conducted as part of development of autonomous transport solutions at Scania, Sweden.  ... 
arXiv:2205.07098v1 fatcat:axr2wwxtxndl3p5lmbqbr4qipa

Visual-inertial self-calibration on informative motion segments

Thomas Schneider, Mingyang Li, Michael Burri, Juan Nieto, Roland Siegwart, Igor Gilitschenski
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
In this paper, we present a novel approach for resource efficient self-calibration of visual-inertial sensor systems.  ...  Environmental conditions and external effects, such as shocks, have a significant impact on the calibration parameters of visual-inertial sensor systems.  ...  These developments pose novel technical challenges to ensure accurate calibration of extrinsics and intrinsics of the underlying sensor systems.  ... 
doi:10.1109/icra.2017.7989766 dblp:conf/icra/SchneiderLBNSG17 fatcat:f4afrxfmmzfrpknfrxxeszcv6e
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