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- Title
RELATIVE POSE CALIBRATION BETWEEN INERTIAL UNIT AND VISUAL UNIT IN RAILWAY TRACK INSPECTION SYSTEM.
- Authors
SHUBIN ZHENG; XIAODONG CHAI; SHENGCHAO SU; XINCHANG LIU; KEN NETA; MILLER, W.
- Abstract
Information fusion technology based on inertial measurement unit (IMU) and visual sensor unit is a potentially effective solution for fast measuring of spatial alignment of railway track, and the key to this solution is to determine the relative pose between IMU and visual unit with high precision. In this paper, a two-step calibration method is proposed for its determination through a simple process. Firstly, a vertical space vector is adopted, and it can be obtained by the IMU through the acceleration of gravity. Similarly, another vertical space vector can also be fixed by the camera through the corners of a checkerboard, used as calibration board and vertically placed. And the rotation relationship between the IMU and the camera is obtained by using the property of parallel space vector. In the second step, the translation movement amounts of the IMU and camera are taken as the state vectors, where the translation amounts are estimated and determined by using the extended Kalman's filter (EKF). The method is experimentally tested and the results show that the proposed method is capable of determining the relative pose between IMU and camera with a fairly good precision.
- Subjects
INERTIA (Mechanics); CALIBRATION; RAILROAD track inspection -- Equipment &; supplies; KALMAN filtering; COMPUTER vision
- Publication
Journal of the Balkan Tribological Association, 2016, Vol 22, Issue 2-I, p1253
- ISSN
1310-4772
- Publication type
Article