Vins-Fusion real-time extrinsic camera-imu calibration

Vins-Fusion is an optimization-based multi-sensor state estimator, a major feature is to support real-time camera-imu extrinsic calibration (rotation between camera and IMU). Vins-Fusion external parameter camera-imu calibration is to calculate the camera pose between two frames and imu pre-integration to obtain the pose, construct a least squares problem, and solve the camera-imu external parameter rotation matrix through SVD. It is mainly divided into the following parts:

1. Calculate the matching points between the two frames of the camera to get Rcamera

1. Obtain the essential matrix E from epipolar geometry;

2. Use svd decomposition to obtain four possible solutions R, t;

3. The final correct solution is determined by the maximum depth of triangulation, and Rcamera is obtained;

2. Rimu is obtained by calculating the imu between the two frames of the camera

3. Construct the least squares problem to obtain the external parameter Rcamera-imu

Use svd to solve the least squares problem and obtain Rcamera-imu

Write the outline first, and then provide the details one by one. . .

Since the CSDN markdown editor cannot enter formulas, it is rewritten using a rich text editor. For details, please refer to another blog post of the same name.

Vins-Fusion real-time extrinsic camera-imu calibration