On 'A Kalman Filter-Based Algorithm for IMU-Camera Calibration: Observability Analysis and Performance Evaluation'
Abstract
The above-mentioned work [1] in IEEE-TR'08 presented an extended Kalman filter for calibrating the misalignment between a camera and an IMU. As one of the main contributions, the locally weakly observable analysis was carried out using Lie derivatives. The seminal paper [1] is undoubtedly the cornerstone of current observability work in SLAM and a number of real SLAM systems have been developed on the observability result of this paper, such as [2, 3]. However, the main observability result of this paper [1] is founded on an incorrect proof and actually cannot be acquired using the local observability technique therein, a fact that is apparently not noticed by the SLAM community over a number of years.
Cite
@article{arxiv.1311.4769,
title = {On 'A Kalman Filter-Based Algorithm for IMU-Camera Calibration: Observability Analysis and Performance Evaluation'},
author = {Yuanxin Wu},
journal= {arXiv preprint arXiv:1311.4769},
year = {2013}
}
Comments
3 pages. This work was done in 2009. Abstract revised and More refs added in this new version