Time Shifted IMU Preintegration for Temporal Calibration in Incremental Visual-Inertial Initialization
Abstract: Tightly coupled Visual-Inertial SLAM (VISLAM) algo-
rithms are now state of the art approaches for indoor local-
ization. There are many implementations of VISLAM, like
filter-based and non-linear optimization based algorithms.
They all require an accurate temporal alignment between
sensors clock and an initial IMU state (gyroscope and ac-
celerometer biases value, gravity direction and initial ve-
locity) for precise localization. In this paper we propose
an initialization procedure of VISLAM that estimates simul-
taneously IMU-camera temporal calibration and the initial
IMU state. To this end, the concept of Time Shifted IMU
Preintegration (TSIP) measurements is introduced: an in-
terpolation of IMU preintegration that takes into account
the effect of sensors clock misalignment. These TSIP mea-
surements are included along with visual odometry mea-
surements in a graph that is incrementally optimized. It re-
sults in a real time, accurate and robust initialization for
VISLAM as demonstrated in the experiments on real data.
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