Relative Pose Calibration of a Spherical Camera and an IMU, Report no. LiTH-ISY-R-2855
نویسندگان
چکیده
This paper is concerned with the problem of estimating the relative translation and orientation of an inertial measurement unit and a spherical camera, which are rigidly connected. The key is to realize that this problem is in fact an instance of a standard problem within the area of system identi cation, referred to as a gray-box problem. We propose a new algorithm for estimating the relative translation and orientation, which does not require any additional hardware, except a piece of paper with a checkerboard pattern on it. The experimental results show that the method works well in practice.
منابع مشابه
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