论文标题
来自任意轨迹的多个惯性传感器的外部校准
Extrinsic Calibration of Multiple Inertial Sensors from Arbitrary Trajectories
论文作者
论文摘要
我们提供了一种用于多个惯性测量单元（IMU）系统的外部校准方法，该方法仅使用IMU本身的测量值估算每个IMU在刚体上的相对姿势，而无需开具轨迹。我们的方法基于解决非线性最小二乘问题的问题，该问题惩罚了IMU对测量之间的不一致性。我们通过模拟和硬件中的实验来验证我们的方法。特别是，我们表明它符合或超过现有的，最新方法的错误，成功率和计算时间的性能，该方法不仅依赖于IMU测量值，而需要使用相机和基准标记。我们还表明，我们方法的性能在很大程度上对收集IMU测量的轨迹的选择不敏感。
We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to prescribe the trajectory. Our method is based on solving a nonlinear least-squares problem that penalizes inconsistency between measurements from pairs of IMUs. We validate our method with experiments both in simulation and in hardware. In particular, we show that it meets or exceeds the performance -- in terms of error, success rate, and computation time -- of an existing, state-of-the-art method that does not rely only on IMU measurements and instead requires the use of a camera and a fiducial marker. We also show that the performance of our method is largely insensitive to the choice of trajectory along which IMU measurements are collected.
