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dc.contributor.authorLi, Yan
dc.contributor.authorTan, Jindong
dc.contributor.authorZhang, Yinlong
dc.contributor.authorLiang, Wei
dc.contributor.authorHe, Hongsheng
dc.identifier.citationY. 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. 2295-2300en_US
dc.descriptionClick on the DOI link to access the article (may not be free).en_US
dc.description.abstractThe 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.en_US
dc.description.sponsorshipNational Science Foundation of China under contact 61233007, 61673371, 61305114 and 71661147005, Youth Innovation Promotion Association, CAS (2015157).en_US
dc.relation.ispartofseries24th International Conference on Pattern Recognition (ICPR);2018
dc.subjectThermal sensorsen_US
dc.subjectFeature extractionen_US
dc.titleSpatial calibration for thermal-RGB cameras and inertial sensor systemen_US
dc.typeConference paperen_US
dc.rights.holder© 2018, IEEEen_US

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