Related papers: Extrinsic Calibration of Multiple Inertial Sensors…
In this paper, we propose a fast extrinsic calibration method for fusing multiple inertial measurement units (MIMU) to improve visual-inertial odometry (VIO) localization accuracy. Currently, data fusion algorithms for MIMU highly depend on…
Modern autonomous systems typically use several sensors for perception. For best performance, accurate and reliable extrinsic calibration is necessary. In this research, we propose a reliable technique for the extrinsic calibration of…
This paper presents a new method for jointly calibrating a magnetometer and inertial measurement unit (IMU), focusing on balancing calibration accuracy and computational efficiency. The proposed method is based on a maximum a posteriori…
Mobile robot positioning, mapping, and navigation systems generally employ an inertial measurement unit (IMU) to obtain the acceleration and angular velocity of the robot. However, errors in the internal and external parameters of an IMU…
This paper addresses the problem of choosing a sparse subset of measurements for quick calibration parameter estimation. A standard solution to this is selecting a measurement only if its utility -- the difference between posterior (with…
This work presents a centralized multi-IMU filter framework with online intrinsic and extrinsic calibration for unsynchronized inertial measurement units that is robust against changes in calibration parameters. The novel EKF-based method…
Inertial measurement units (IMUs) are used in medical applications for many different purposes. However, an IMU's measurement accuracy can degrade over time, entailing re-calibration. In their 2014 paper, Tedaldi et al. presented an IMU…
In this paper, we study state estimation of multi-visual-inertial systems (MVIS) and develop sensor fusion algorithms to optimally fuse an arbitrary number of asynchronous inertial measurement units (IMUs) or gyroscopes and global and(or)…
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…
Inertial motion capture is a promising approach for capturing motion outside the laboratory. However, as one major drawback, most of the current methods require different quantities to be calibrated or computed offline as part of the setup…
The common approach to inertial sensor calibration for navigation purposes has been to model the stochastic error signals of individual sensors independently, whether as components of a single inertial measurement unit (IMU) in different…
In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…
Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…
In this paper, we propose a novel dynamic calibration method for sparse inertial motion capture systems, which is the first to break the restrictive absolute static assumption in IMU calibration, i.e., the coordinate drift RG'G and…
Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as…
Recently, multi-sensors fusion has achieved significant progress in the field of automobility to improve navigation and position performance. As the prerequisite of the fusion algorithm, the demand for the extrinsic calibration of…
Inertial navigation systems for pedestrians are infrastructure-less and can achieve sub-meter accuracy in the short/medium period. However, when low-cost inertial measurement units (IMU) are employed for their implementation, they suffer…
The integrated inertial system, typically integrating an IMU and an exteroceptive sensor such as radar, LiDAR, and camera, has been widely accepted and applied in modern robotic applications for ego-motion estimation, motion control, or…
Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a novel LiDAR-IMU calibration method within the continuous-time…