Online Self-calibration of Camera-IMU External Parameters and IMU Initialization for Stereo VI-SLAM
作者单位：Department of AutomationXiamen University
会议名称：《第三十九届中国控制会议》
会议日期：2020年
学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程]
关 键 词：Stereo Ⅵ-SLAM Online Self-calibration Initialization
摘 要：The positioning accuracy of simultaneous localization and mapping（SLAM） system based on visual and IMU fusion depends on accurate IMU initialization and external parameters between camera and IMU to a large ***,the SLAM system recalibrated when the relative position of the camera and IMU ***,the off-line calibration of the SLAM system is complicated *** solve the problem,a new method of external parameter self-calibration and IMU online initialization ***,the proposed method employs the calibrated stereo camera to avoid the ambiguous-scale of the monocular *** processes are included in our ***,the parameter of external rotation between camera and IMU with the rotation between camera and IMU of two consecutive frames as input is ***,the gyro bias estimated by the obtained external ***,the gravity and the parameter of external translation roughly estimated without considering the accelerometer ***,the gravity and external translation optimized with the accelerometer *** results on datasets demonstrate that the proposed method with stereo VI-SLAM has better performance of positioning accuracy,convergence,and deviation of external parameters than that of the state-of-the-art VINS-mono of the new version.