A position free boresight calibration for INS-camera systems
Bender D, Cremers D, Koch W (2016)
Publication Type: Conference contribution
Publication year: 2016
Publisher: Institute of Electrical and Electronics Engineers Inc.
Book Volume: 0
Pages Range: 52-57
Conference Proceedings Title: IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
Event location: Baden-Baden, DEU
ISBN: 9781467397087
Abstract
In this paper, we present an innovative calibration procedure to determine the angle misalignments, also known as boresight, between the coordinate systems of an inertial navigation system (INS) and a camera. All currently known approaches integrate positional information from the INS in the optimization process. Thereby, the position errors in the range of a few meters of most INS devices negatively influence the accuracy of the boresight estimation in state-of-the-art calibration methods. By using line instead of classical point features within the calibration process, we are able to perform the optimization without positional information and avoid being affected by the corresponding noisy data. This can improve the calibration results for systems of all accuracy levels. For the first time, a reliable calibration for systems with poor positional estimations is possible. The presented approach can be applied to images observing a checkerboard, which allows the calibration of the intrinsic camera parameters and boresight misalignment angles from the same dataset. We confirm the high performance of the presented procedure by evaluating simulated and real-world experiments. The achieved results show the capability to reduce the boresight errors to small sub-degree values.
Involved external institutions
Fraunhofer-Institut für Kommunikation, Informationsverarbeitung und Ergonomie (FKIE) / Fraunhofer Institute for Communication, Information Processing and Ergonomics
Germany (DE)
Technische Universität München (TUM)
Germany (DE)
Germany (DE)
Technische Universität München (TUM)
Germany (DE)
How to cite
APA:
Bender, D., Cremers, D., & Koch, W. (2016). A position free boresight calibration for INS-camera systems. In IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (pp. 52-57). Baden-Baden, DEU: Institute of Electrical and Electronics Engineers Inc..
MLA:
Bender, Daniel, Daniel Cremers, and Wolfgang Koch. "A position free boresight calibration for INS-camera systems." Proceedings of the 2016 IEEE lnternational Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2016, Baden-Baden, DEU Institute of Electrical and Electronics Engineers Inc., 2016. 52-57.
BibTeX: Download