Event
A visual-inertial odometry method with dynamic camera-IMU extrinsic calibration
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Bo Dong et al. released a paper on arXiv proposing a dynamic camera-IMU extrinsic calibration method based on the Denavit-Hartenberg convention. By introducing a robot kinematic model, it achieves online estimation of time-varying extrinsics, and is paired with a two-step initialization strategy to efficiently estimate initial joint angles, providing a starting point for subsequent extrinsic parameter optimization. The paper states that simulation experiments show the framework can adapt to changes in camera-IMU extrinsics while maintaining competitive localization accuracy.
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- 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.
arXiv cs.RO ·