A graph based bundle adjustment for INS-camera calibration

Bender D, Schikora M, Sturm J, Cremers D (2013)

Publication Type: Conference contribution

Publication year: 2013

Publisher: International Society for Photogrammetry and Remote Sensing

Book Volume: 40

Pages Range: 39-44

Conference Proceedings Title: International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives

Event location: Rostock, DEU

Abstract

In this paper, we present a graph based approach for performing the system calibration of a sensor suite containing a fixed mounted camera and an inertial navigation system. The aim of the presented work is to obtain accurate direct georeferencing of camera images collected with small unmanned aerial systems. Prerequisite for using the pose measurements from the inertial navigation system as exterior orientation for the camera is the knowledge of the static offsets between these devices. Furthermore, the intrinsic parameters of the camera obtained in a laboratory tend to deviate slightly from the values during flights. This induces an in-flight calibration of the intrinsic camera parameters in addition to the mounting offsets between the two devices. The optimization of these values can be done by introducing them as parameters into a bundle adjustment process. We show how to solve this by exploiting a graph optimization framework, which is designed for the least square optimization of general error functions.

Involved external institutions

Fraunhofer-Institut für Kommunikation, Informationsverarbeitung und Ergonomie (FKIE) / Fraunhofer Institute for Communication, Information Processing and Ergonomics DE Germany (DE) Technische Universität München (TUM) DE Germany (DE)

How to cite

APA:

Bender, D., Schikora, M., Sturm, J., & Cremers, D. (2013). A graph based bundle adjustment for INS-camera calibration. In R. Bill, G. Grenzdorffer (Eds.), International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives (pp. 39-44). Rostock, DEU: International Society for Photogrammetry and Remote Sensing.

MLA:

Bender, D., et al. "A graph based bundle adjustment for INS-camera calibration." Proceedings of the UAV-g 2013, Rostock, DEU Ed. R. Bill, G. Grenzdorffer, International Society for Photogrammetry and Remote Sensing, 2013. 39-44.

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