Spatial calibration for thermal-RGB cameras and inertial sensor system

No Thumbnail Available
Issue Date
Li, Yan
Tan, Jindong
Zhang, Yinlong
Liang, Wei
He, Hongsheng

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


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.

Table of Content
Click on the DOI link to access the article (may not be free).