TY - GEN
T1 - SLAM-based cooperative calibration for optical sensors array with GPS/IMU aided
AU - Wang, Dong
AU - Pan, Quan
AU - Zhao, Chunhui
AU - Hu, Jinwen
AU - Liu, Liu
AU - Tian, Limin
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/30
Y1 - 2016/6/30
N2 - Loading wide baseline multi-arrays optical sensor system enables a UAV to obtain large field of view and multi-view information, and maximize its detection performance. An accurate calibration is a necessary prerequisite. Since the key problem on the calibration of multi-array optical system is how to find the accurate extrinsic parameters of single array, we propose a cooperative calibration with GPS/IMU aided for the single array optical system to improve the accuracy of calibration. Our method does not require an initial guess of any extrinsic parameter. Through extensive field tests on ground prototype experimental system, we demonstrate that our algorithm has more accuracy compared to multi-camera calibration without GPS/IMU aided as well as robustness for calibration of single array optical system.
AB - Loading wide baseline multi-arrays optical sensor system enables a UAV to obtain large field of view and multi-view information, and maximize its detection performance. An accurate calibration is a necessary prerequisite. Since the key problem on the calibration of multi-array optical system is how to find the accurate extrinsic parameters of single array, we propose a cooperative calibration with GPS/IMU aided for the single array optical system to improve the accuracy of calibration. Our method does not require an initial guess of any extrinsic parameter. Through extensive field tests on ground prototype experimental system, we demonstrate that our algorithm has more accuracy compared to multi-camera calibration without GPS/IMU aided as well as robustness for calibration of single array optical system.
UR - https://www.scopus.com/pages/publications/84979784713
U2 - 10.1109/ICUAS.2016.7502643
DO - 10.1109/ICUAS.2016.7502643
M3 - 会议稿件
AN - SCOPUS:84979784713
T3 - 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
SP - 615
EP - 623
BT - 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
Y2 - 7 June 2016 through 10 June 2016
ER -