Extrinsic Parameter Calibration Method for a Visual/Inertial Integrated System with a Predefined Mechanical Interface
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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-07-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/14/3086 |
| _version_ | 1818039018677338112 |
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| author | Chenguang Ouyang Shuai Shi Zheng You Kaichun Zhao |
| author_facet | Chenguang Ouyang Shuai Shi Zheng You Kaichun Zhao |
| author_sort | Chenguang Ouyang |
| collection | DOAJ |
| description | 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). |
| first_indexed | 2024-12-10T07:51:58Z |
| format | Article |
| id | doaj.art-71bea333263d4719851f56c9bb429831 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-12-10T07:51:58Z |
| publishDate | 2019-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-71bea333263d4719851f56c9bb4298312022-12-22T01:57:00ZengMDPI AGSensors1424-82202019-07-011914308610.3390/s19143086s19143086Extrinsic Parameter Calibration Method for a Visual/Inertial Integrated System with a Predefined Mechanical InterfaceChenguang Ouyang0Shuai Shi1Zheng You2Kaichun Zhao3State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, ChinaState Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, ChinaState Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, ChinaState Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, ChinaFor 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).https://www.mdpi.com/1424-8220/19/14/3086visual/inertial integrated systemextrinsic parameter calibrationcorner detectionmotion blur |
| spellingShingle | Chenguang Ouyang Shuai Shi Zheng You Kaichun Zhao Extrinsic Parameter Calibration Method for a Visual/Inertial Integrated System with a Predefined Mechanical Interface Sensors visual/inertial integrated system extrinsic parameter calibration corner detection motion blur |
| title | Extrinsic Parameter Calibration Method for a Visual/Inertial Integrated System with a Predefined Mechanical Interface |
| title_full | Extrinsic Parameter Calibration Method for a Visual/Inertial Integrated System with a Predefined Mechanical Interface |
| title_fullStr | Extrinsic Parameter Calibration Method for a Visual/Inertial Integrated System with a Predefined Mechanical Interface |
| title_full_unstemmed | Extrinsic Parameter Calibration Method for a Visual/Inertial Integrated System with a Predefined Mechanical Interface |
| title_short | Extrinsic Parameter Calibration Method for a Visual/Inertial Integrated System with a Predefined Mechanical Interface |
| title_sort | extrinsic parameter calibration method for a visual inertial integrated system with a predefined mechanical interface |
| topic | visual/inertial integrated system extrinsic parameter calibration corner detection motion blur |
| url | https://www.mdpi.com/1424-8220/19/14/3086 |
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