SIA OpenIR  > 机器人学研究室
Environment driven underwater camera-IMU calibration for monocular visual-inertial SLAM
Gu CJ(古长军)1,2; Cong Y(丛杨)1; Sun G(孙干)1,2
Department机器人学研究室
Conference Name2019 International Conference on Robotics and Automation, ICRA 2019
Conference DateMay 20-24, 2019
Conference PlaceMontreal, QC, Canada
Author of SourceBosch ; DJI ; et al. ; Kinova ; Mercedes-Benz ; Samsung
Source Publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherIEEE
Publication PlaceNew York
2019
Pages2405-2411
Indexed ByEI ; CPCI(ISTP)
EI Accession number20193507384386
WOS IDWOS:000494942301121
Contribution Rank1
ISSN1050-4729
ISBN978-1-5386-6026-3
AbstractMost state-of-the-art underwater vision systems are calibrated manually in shallow water and used in open seas without changing. However, the refractivity of the water is adaptively changed depending on the salinity, temperature, depth or other underwater environmental indexes, which inevitably generate the calibration errors and induces incorrectness e.g., for underwater Simultaneously Localization and Mapping (SLAM). To address this issue, in this paper, we propose a new underwater Camera-Inertial Measurement Unit (IMU) calibration model, which just needs to be calibrated once in the air, and then both the intrinsic parameters and extrinsic parameters between the camera and IMU could be automatically calculated depending on the environment indexes. To our best knowledge, this is the first work to consider the underwater Camera-IMU calibration via environmental indexes. We also build a verification platform to validate the effectiveness of our proposed method on real experiments, and use it for underwater monocular Visual-Inertial SLAM.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25514
Collection机器人学研究室
Corresponding AuthorCong Y(丛杨)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Gu CJ,Cong Y,Sun G. Environment driven underwater camera-IMU calibration for monocular visual-inertial SLAM[C]//Bosch, DJI, et al., Kinova, Mercedes-Benz, Samsung. New York:IEEE,2019:2405-2411.
Files in This Item: Download All
File Name/Size DocType Version Access License
Environment driven u(2289KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Gu CJ(古长军)]'s Articles
[Cong Y(丛杨)]'s Articles
[Sun G(孙干)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Gu CJ(古长军)]'s Articles
[Cong Y(丛杨)]'s Articles
[Sun G(孙干)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Gu CJ(古长军)]'s Articles
[Cong Y(丛杨)]'s Articles
[Sun G(孙干)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Environment driven underwater camera-IMU calibration for monocular visual-inertial SLAM.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.