System Setup for Synchronized Visual-Inertial Localization and Mapping
- 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 toA 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.…
| Author: | Stefan HenselGND, Marin B. Marinov, Max Schmitt |
|---|---|
| Creating Corporation: | IEEE |
| Year of Publication: | 2020 |
| Pagenumber: | 4 |
| ISBN: | 978-1-7281-7426-6 (Online) |
| ISBN: | 978-1-7281-7427-3 (Print on Demand) |
| Language: | English |
| Parent Title (English): | Proceedings of the 2020 XXIX International Scientific Conference Electronics (ET) |
| Document Type: | Conference Proceeding |
| Institutes: | Bibliografie |
| Open Access: | Zugriffsbeschränkt |
| Release Date: | 2020/12/17 |
| Licence (German): |  Es gilt das UrhG |
| Note: | Konferenz: XXIX International Scientific Conference Electronics - ET2020, September 16 - 18 2020, Sozopol, Bulgaria |
| DOI: | https://doi.org/10.1109/ET50336.2020.9238295 |