Environment driven underwater camera-IMU calibration for monocular visual-inertial SLAM
文献类型：会议论文
| 作者 | Sun G(孙干)1,2 ; Gu CJ(古长军)1,2; Cong Y(丛杨)2
|
| 出版日期 | 2019 |
| 会议日期 | May 20-24, 2019 |
| 会议地点 | Montreal, QC, Canada |
| 页码 | 2405-2411 |
| 英文摘要 | Most state-of-the-art underwater vision systems are calibrated manually in shallow water and used in open seas without changing. However, the refractivity of the water is adaptively changed depending on the salinity, temperature, depth or other underwater environmental indexes, which inevitably generate the calibration errors and induces incorrectness e.g., for underwater Simultaneously Localization and Mapping (SLAM). To address this issue, in this paper, we propose a new underwater Camera-Inertial Measurement Unit (IMU) calibration model, which just needs to be calibrated once in the air, and then both the intrinsic parameters and extrinsic parameters between the camera and IMU could be automatically calculated depending on the environment indexes. To our best knowledge, this is the first work to consider the underwater Camera-IMU calibration via environmental indexes. We also build a verification platform to validate the effectiveness of our proposed method on real experiments, and use it for underwater monocular Visual-Inertial SLAM. |
| 源文献作者 | Bosch ; DJI ; et al. ; Kinova ; Mercedes-Benz ; Samsung |
| 产权排序 | 1 |
| 会议录 | 2019 International Conference on Robotics and Automation, ICRA 2019
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 1050-4729 |
| ISBN号 | 978-1-5386-6026-3 |
| 源URL | [http://ir.sia.cn/handle/173321/25514]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Cong Y(丛杨) |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Sun G,Gu CJ,Cong Y. Environment driven underwater camera-IMU calibration for monocular visual-inertial SLAM[C]. 见:. Montreal, QC, Canada. May 20-24, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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