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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.show moreshow less

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Metadaten
Document Type:Conference Proceeding
Conference Type:Konferenzartikel
Zitierlink: https://opus.hs-offenburg.de/4370
Bibliografische Angaben
Title (English):System Setup for Synchronized Visual-Inertial Localization and Mapping
Conference:International Scientific Conference Electronics (29. : September 16 - 18 2020 : Sozopol, Bulgaria)
Author:Stefan HenselStaff MemberORCiDGND, Marin B. Marinov, Max Schmitt
Year of Publication:2020
Publisher:IEEE
Page Number:4
Parent Title (English):2020 XXIX International Scientific Conference Electronics (ET)
ISBN:978-1-7281-7426-6 (Online)
ISBN:978-1-7281-7427-3 (Print on Demand)
DOI:https://doi.org/10.1109/ET50336.2020.9238295
Language:English
Inhaltliche Informationen
Institutes:Fakultät Elektrotechnik, Medizintechnik und Informatik (EMI) (ab 04/2019)
Institutes:Bibliografie
Formale Angaben
Open Access: Closed Access 
Licence (German):License LogoUrheberrechtlich geschützt