TY - CHAP U1 - Konferenzveröffentlichung A1 - Hensel, Stefan A1 - Marinov, Marin B. A1 - Schmitt, Max T1 - System Setup for Synchronized Visual-Inertial Localization and Mapping T2 - 2020 XXIX International Scientific Conference Electronics (ET) N2 - A novel approach for synchronization and calibration of a camera and an inertial measurement unit (IMU) in the research-oriented visual-inertial mapping-and localization-framework maplab is presented. Mapping and localization are based on detecting different features in the environment. In addition to the possibility of creating single-case maps, the included algorithms allow merging maps to increase mapping accuracy and obtain large-scale maps. Furthermore, the algorithms can be used to optimize the collected data. The preliminary results show that after appropriate calibration and synchronization maplab can be used efficiently for mapping, especially in rooms and small building environments. Y1 - 2020 SN - 978-1-7281-7426-6 (Online) SB - 978-1-7281-7426-6 (Online) SN - 978-1-7281-7427-3 (Print on Demand) SB - 978-1-7281-7427-3 (Print on Demand) U6 - https://doi.org/10.1109/ET50336.2020.9238295 DO - https://doi.org/10.1109/ET50336.2020.9238295 SP - 4 S1 - 4 PB - IEEE ER -