Spatial Calibration for Thermal-RGB Cameras and Inertial Sensor System
文献类型：会议论文
| 作者 | He, Hongsheng; Li Y(李杨) ; Tan JD(谈金东); Zhang YL( 张吟龙); Liang W(梁炜)
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| 出版日期 | 2018 |
| 会议日期 | August 20-24, 2018 |
| 会议地点 | Beijing, China |
| 页码 | 2295-2300 |
| 英文摘要 | The light-weight thermal-RGB-inertial sensing units are now gaining increasing research attention, due to their heterogeneous and complementary properties. A robust and accurate registration between a thermal-RGB camera and an inertial sensor is a necessity for effective thermal-RGB-inertial fusion, which is an indispensable procedure for reliable tracking and mapping tasks. This paper presents an accurate calibration method to geometrically correlate the spatial relationships between an RGB camera, a thermal camera and an inertial measurement unit (IMU). The calibration proceeds within the unified calibration framework (thermal-to-RGB, RGB-to-IMU). The extrinsic parameters are estimated by jointly optimizing both the chessboard corner reprojection errors and acceleration and angular velocity error terms. Extensive evaluations have been performed on the collected thermal-RGB-inertial measurements. In this experiments study, the average RMS translation and Euler angle errors are less than 6 mm and 0.04 rad respectively under 20% artificial noise. |
| 源文献作者 | Int Assoc Pattern Recognit, Chinese Assoc Automat |
| 产权排序 | 2 |
| 会议录 | 2018 24th International Conference on Pattern Recognition (ICPR)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 1051-4651 |
| ISBN号 | 978-1-5386-3788-3 |
| WOS记录号 | WOS:000455146802051 |
| 源URL | [http://ir.sia.cn/handle/173321/24033]  |
| 专题 | 沈阳自动化研究所_工业控制网络与系统研究室 |
| 通讯作者 | Li Y(李杨) |
| 作者单位 | 1.Department of Electrical and Computer Science Engineering Wichita State University Wichita, Kansas, 67260, USA 2.Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee Konxville, Tennessee, 37996, USA 3.Key Lab of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang, 110016, China |
| 推荐引用方式 GB/T 7714 | He, Hongsheng,Li Y,Tan JD,et al. Spatial Calibration for Thermal-RGB Cameras and Inertial Sensor System[C]. 见:. Beijing, China. August 20-24, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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