Particle filtering for sensor-to-sensor self-calibration and motion estimation

Yafei Yang; Jianguo Li

doi:10.1117/12.2014423

31 January 2013 Particle filtering for sensor-to-sensor self-calibration and motion estimation

Yafei Yang, Jianguo Li

Proceedings Volume 8759, Eighth International Symposium on Precision Engineering Measurement and Instrumentation; 875946 (2013) https://doi.org/10.1117/12.2014423
Event: International Symposium on Precision Engineering Measurement and Instrumentation 2012, 2012, Chengdu, China

Abstract

This paper addresses the problem of calibrating the six degrees-of-freedom rigid body transform between a camera and an inertial measurement unit (IMU) while at the same time estimating the 3D motion of a vehicle. A high-fidelity measurement model for the camera and IMU are derived and the estimation algorithm are implemented within the particle filter (PF) framework. Belonging to the class of Monte Carlo sequential methods, the filter uses the unscented Kalman filter (UKF) to generate importance proposal distribution. It can not only avoid the limitation of the UKF which can only apply to Gaussian distribution, but also avoid the limitation of the standard PF which can not include the new measurements. Moreover, the proposed algorithm requires no additional hardware equipment. Simulation results illustrate the ill effects of misalignment on motion estimation and demonstrate accurate estimation of both the calibration parameters and the state of the vehicle.

Citation Download Citation

Yafei Yang and Jianguo Li "Particle filtering for sensor-to-sensor self-calibration and motion estimation", Proc. SPIE 8759, Eighth International Symposium on Precision Engineering Measurement and Instrumentation, 875946 (31 January 2013); https://doi.org/10.1117/12.2014423

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available