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

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ch22jkonkzv90x7nga2d7c2ry
- Original: https://arxiv.org/abs/2610.25397

## Summary

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.