DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Chang-Ryeol | ko |
dc.contributor.author | Yoon, Ju Hong | ko |
dc.contributor.author | Yoon, Kuk-Jin | ko |
dc.date.accessioned | 2018-08-20T08:00:03Z | - |
dc.date.available | 2018-08-20T08:00:03Z | - |
dc.date.created | 2018-08-08 | - |
dc.date.issued | 2014-06-03 | - |
dc.identifier.citation | 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, pp.3020 - 3026 | - |
dc.identifier.uri | http://hdl.handle.net/10203/244931 | - |
dc.description.abstract | Recently, mobile devices such as smart phones and quad-copters are being equipped with inertial measurement units (IMUs) because of advances in micro-electro-mechanical systems technology. This has increased the importance of IMU- camera fusion for vision-based applications. However, ultralow-cost IMUs take much less accurate measurements than low-cost and high-cost IMUs. This uncertainty degrades the accuracy and reliability of IMU-camera calibration, which is the most important step for IMU-camera fusion technology. In this paper, we propose three effective algorithms for robust IMU- camera calibration with uncertain measurements: boundary constraint, adaptive prediction, and angular velocity constraint. These algorithms incorporate a Bayesian filtering framework to estimate calibration parameters more efficiently. The experimental results on both simulation and real data demonstrated the superiority of the proposed algorithms. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society | - |
dc.title | Robust calibration of an ultralow-cost inertial measurement unit and a camera: Handling of severe system uncertainty | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 3020 | - |
dc.citation.endingpage | 3026 | - |
dc.citation.publicationname | 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 | - |
dc.identifier.conferencecountry | HK | - |
dc.identifier.conferencelocation | Hong Kong Convention and Exhibition Center | - |
dc.identifier.doi | 10.1109/ICRA.2014.6907294 | - |
dc.contributor.localauthor | Yoon, Kuk-Jin | - |
dc.contributor.nonIdAuthor | Lee, Chang-Ryeol | - |
dc.contributor.nonIdAuthor | Yoon, Ju Hong | - |
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