A Kalman filter-based algorithm for IMU-camera calibration: Observability analysis and performance evaluation

IEEE Transactions on Robotics

Volumn 24, Issue 5, 2008, Pages 1143-1156

  Mirzaei, Faraz M ^a   Roumeliotis, Stergios I ^a  

^a University of Minnesota   (United States)

Author keywords

Extended Kalman filter; Inertial measurement unit (IMU) camera calibration; Lie derivatives; Observability of nonlinear systems; Vision aided inertial navigation

Indexed keywords

CALIBRATION; CAMERAS; CELLULAR RADIO SYSTEMS; CONTROL THEORY; EXTENDED KALMAN FILTERS; KALMAN FILTERS; MOIRE FRINGES; NAVIGATION; NAVIGATION SYSTEMS; NONLINEAR SYSTEMS; POSITION CONTROL; SENSORS; WAVE FILTERS;

AND PERFORMANCE EVALUATIONS; CALIBRATION TARGETS; CAMERA CALIBRATIONS; ESTIMATION ACCURACIES; EXTERNAL-; EXTRINSIC CALIBRATIONS; FIGURE OF MERITS; INERTIAL MEASUREMENT UNIT (IMU)-CAMERA CALIBRATION; INERTIAL MEASUREMENT UNITS; INERTIAL MEASUREMENTS; LASER SCANNERS; LIE DERIVATIVES; OBSERVABILITY ANALYSIS; RIGID TRANSFORMATIONS; SPECIAL HARDWARES; TIME CORRELATIONS; VISUAL OBSERVATIONS;

INERTIAL NAVIGATION SYSTEMS;

EID: 56049112325     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.2004486     Document Type: Article

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