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    Spatial calibration for thermal-RGB cameras and inertial sensor system

    Date
    2018
    Author
    Li, Yan
    Tan, Jindong
    Zhang, Yinlong
    Liang, Wei
    He, Hongsheng
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    Citation
    Y. Li, J. Tan, Y. Zhang, W. Liang and H. He, "Spatial Calibration for Thermal-RGB Cameras and Inertial Sensor System," 2018 24th International Conference on Pattern Recognition (ICPR), Beijing, 2018, pp. 2295-2300
    Abstract
    The light-weight thermal-RGB-inertial sensing units are now gaining increasing research attention, due to their heterogeneous and complementary properties. A robust and accurate registration between a thermal-RGB camera and an inertial sensor is a necessity for effective thermal-RGB-inertial fusion, which is an indispensable procedure for reliable tracking and mapping tasks. This paper presents an accurate calibration method to geometrically correlate the spatial relationships between an RGB camera, a thermal camera and an inertial measurement unit (IMU). The calibration proceeds within the unified calibration framework (thermal-to-RGB, RGB-to-IMU). The extrinsic parameters are estimated by jointly optimizing both the chessboard corner reprojection errors and acceleration and angular velocity error terms. Extensive evaluations have been performed on the collected thermal-RGB-inertial measurements. In this experiments study, the average RMS translation and Euler angle errors are less than 6 mm and 0.04 rad respectively under 20% artificial noise.
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    URI
    https://doi.org/10.1109/ICPR.2018.8546111
    http://hdl.handle.net/10057/15794
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    • EECS Research Publications [478]

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