Stereo Visual-Inertial Odometry with Online Initialization and Extrinsic Self-Calibration

Reliable extrinsic calibration is critical to fuse camera and inertial measurement unit (IMU), which are usually used in stereo visual-inertial odometry (VIO), however, it is difficult to obtain extrinsic parameters in practice. This paper proposes a stereo VIO with the capability of calibrating the...

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Bibliographic Details
Published in:IEEE transactions on instrumentation and measurement 2023-01, Vol.72, p.1-1
Main Authors: Yin, Hongpei, Liu, Peter Xiaoping, Zheng, Minhua
Format: Article
Language:English
Subjects:
Accelerometers
Calibration
Cameras
Gravity
Inertial platforms
Instruments
Odometry
Parameters
Self calibration
Sensor fusion
Velocity measurement
visual-inertial odometry
Visualization
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Summary:Reliable extrinsic calibration is critical to fuse camera and inertial measurement unit (IMU), which are usually used in stereo visual-inertial odometry (VIO), however, it is difficult to obtain extrinsic parameters in practice. This paper proposes a stereo VIO with the capability of calibrating the unknown extrinsic parameters online. The initial values of IMU-camera and camera-camera transformations are estimated during the initial process, which fully leverages commonly observed features between stereo cameras. The pose and velocity are estimated and the extrinsic parameters are jointly refined. Additionally, the accelerometer and gyroscope biases, and gravity direction are taken into account. The proposed VIO scheme have been demonstrated to be effective without prior knowledge of extrinsic parameters.
ISSN:0018-9456
1557-9662
DOI:10.1109/TIM.2023.3282674