The Open Cybernetics & Systemics Journal

2015, 9 : 2637-2641
Published online 2015 October 28. DOI: 10.2174/1874110X01509012637
Publisher ID: TOCSJ-9-2637

Calibration of The Spatial Pose Between Inertial and Visual Sensors With An Inclinometer

Shubin Zheng , Xiaodong Chai , Xinchang Liu and Huaiqing Lin
School of Urban Railway Transportation, Shanghai University of Engineering Science, Shanghai 201620, China.

ABSTRACT

An improved inertial and visual sensors calibration method is proposed in this paper, which is the method of fractional step to calibrate between inertial and visual sensors. The relationship of the rotation between inertial and vision sensors can be obtain by solving the improvement of hand-eye calibration equations. The inclinometer sensor is introduced in the process of calibration and the output of inclinometer data is utilized to optimize the rotation matrix between inertial and vision sensors; the translation between inertial and vision sensors can be obtain through solving the basic hand-eye calibration equations. The experiment results demonstrate that the method can precisely calibrate the relative position of the space between inertial and visual sensors.

Keywords:

Calibration, hand-eye, inertial sensor, visual sensor, relative position, rotation matrix.