Zhang, Z-Q (2016) Cameras and Inertial/Magnetic Sensor Units Alignment Calibration. IEEE Transactions on Instrumentation and Measurement, 65 (6). pp. 1495-1502. ISSN 0018-9456
Abstract
Due to the external acceleration interference/ magnetic disturbance, the inertial/magnetic measurements are usually fused with visual data for drift-free orientation estimation, which plays an important role in a wide variety of applications, ranging from virtual reality, robot, and computer vision to biomotion analysis and navigation. However, in order to perform data fusion, alignment calibration must be performed in advance to determine the difference between the sensor coordinate system and the camera coordinate system. Since orientation estimation performance of the inertial/magnetic sensor unit is immune to the selection of the inertial/magnetic sensor frame original point, we therefore ignore the translational difference by assuming the sensor and camera coordinate systems sharing the same original point and focus on the rotational alignment difference only in this paper. By exploiting the intrinsic restrictions among the coordinate transformations, the rotational alignment calibration problem is formulated by a simplified hand–eye equation AX = XB (A, X, and B are all rotation matrices). A two-step iterative algorithm is then proposed to solve such simplified handeye calibration task. Detailed laboratory validation has been performed and the good experimental results have illustrated the effectiveness of the proposed alignment calibration method.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Cameras, estimation, inertial/magnetic, optimization, |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 21 Apr 2016 12:53 |
Last Modified: | 16 Jan 2018 09:24 |
Published Version: | http://dx.doi.org/10.1109/TIM.2016.2518418 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Identification Number: | 10.1109/TIM.2016.2518418 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:98804 |