Online Spatial and Temporal Calibration for Monocular Direct Visual-Inertial Odometry
Owing to the nonlinearity in visual-inertial state estimation, sufficiently accurate initial states, especially the spatial and temporal parameters between IMU (Inertial Measurement Unit) and camera, should be provided to avoid divergence. Moreover, these parameters are required to be calibrated onl...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-05-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/19/10/2273 |