Extrinsic Parameter Calibration Method for a Visual/Inertial Integrated System with a Predefined Mechanical Interface

Abstract

For a visual/inertial integrated system, the calibration of extrinsic parameters plays a crucial role in ensuring accurate navigation and measurement. In this work, a novel extrinsic parameter calibration method is developed based on the geometrical constraints in the object space and is implemented by manual swing. The camera and IMU frames are aligned to the system body frame, which is predefined by the mechanical interface. With a swinging motion, the fixed checkerboard provides constraints for calibrating the extrinsic parameters of the camera, whereas angular velocity and acceleration provides constraints for calibrating the extrinsic parameters of the IMU. We exploit the complementary nature of both the camera and IMU, of which the latter assists in the checkerboard corner detection and correction while the former suppresses the effects of IMU drift. The results of the calibration experiment reveal that the extrinsic parameter accuracy reaches 0.04° for each Euler angle and 0.15 mm for each position vector component (1σ).

Perancangan Kontrol Zoom Pada Kamera PTZ Untuk Aplikasi Object Tracking

“…Oleh karena itu, dalam penelitian ini dibangun sistem kontrol ukuran obyek dengan memanfaatkan fitur zoom pada camera yang bertujuan untuk memperjelas obyek ketika obyek bergerak semakin menjauhi kamera. Perancangan mekanisme zoom pada kamera PTZ dibangun dengan komputasi sederhana tanpa memperhitungkan parameter instrinsik [6][7] dan ekstrinsik kamera [8], sehingga mempercepat respon kamera. Selain itu, sistem ini dapat secara bebas memilih salah satu obyek yang akan di tracking menggunakan perangkat mouse computer.…”

Kinematic and Dynamic Study of an Inertial System Transforming Rotational Motion into Unidirectional Linear Motion

“…These systems use solid [1,2] or liquid [1,3,4] respectively accelerated and decelerated masses for the unidirectional translational motion and the energy used for them may be mechanical energy [2,5,6] or mechanical energy combined with electromagnetic energy [7].…”