Article

Visual-Inertial Odometry for Ground Robots with Dynamic Camera-IMU Extrinsic Calibration

The paper proposes a dynamic camera-IMU extrinsic calibration method based on the Denavit-Hartenberg convention, enabling online estimation of time-varying extrinsics by incorporating a robot kinematic model. A companion two-step initialization strategy efficiently estimates the initial joint angles, providing a reliable starting point for subsequent extrinsic parameter optimization. Simulation experiments show that the framework can effectively accommodate changes in camera-IMU extrinsics while maintaining competitive localization accuracy.

Part of the event: A visual-inertial odometry method with dynamic camera-IMU extrinsic calibration

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