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Multi-Sensor SLAM with Online Self-Calibration and Change Detection

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2016 International Symposium on Experimental Robotics (ISER 2016)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 1))

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Abstract

We present a solution for constant-time self-calibration and change detection of multiple sensor intrinsic and extrinsic calibration parameters without any prior knowledge of the initial system state or the need of a calibration target or special initialization sequence. This system is capable of continuously self-calibrating multiple sensors in an online setting, while seamlessly solving the online SLAM problem in real-time. We focus on the camera-IMU extrinsic calibration, essential for accurate long-term vision-aided inertial navigation. An initialization strategy and method for continuously estimating and detecting changes to the maximum likelihood camera-IMU transform are presented. A conditioning approach is used, avoiding problems associated with early linearization. Experimental data is presented to evaluate the proposed system and compare it with artifact-based offline calibration developed by our group.

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Acknowledgments

This work is generously supported by Toyota Motor Corporation.

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Authors and Affiliations

  1. Department of Computer Science, University of Colorado, Boulder, Colorado, 80309, USA

    Fernando Nobre, Christoffer R. Heckman & Gabe T. Sibley

Authors
  1. Fernando Nobre
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  2. Christoffer R. Heckman
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  3. Gabe T. Sibley
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Corresponding author

Correspondence to Christoffer R. Heckman .

Editor information

Editors and Affiliations

  1. Gra Sch of Info Sci&Tech,Dept of MechInf, The University of Tokyo Gra Sch of Info Sci&Tech,Dept of MechInf, Tokyo, Japan

    Dana Kulić

  2. Computer Science Department, Stanford University Computer Science Department, Stanford, California, USA

    Yoshihiko Nakamura

  3. Department of Electrical & Computer Engg, University of Waterloo Department of Electrical & Computer Engg, Waterloo, Ontario, Canada

    Oussama Khatib

  4. Department of Mechanical Systems Enginee, Tokyo University of Agriculture and Tech Department of Mechanical Systems Enginee, Tokyo, Japan

    Gentiane Venture

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Nobre, F., Heckman, C.R., Sibley, G.T. (2017). Multi-Sensor SLAM with Online Self-Calibration and Change Detection. In: Kulić, D., Nakamura, Y., Khatib, O., Venture, G. (eds) 2016 International Symposium on Experimental Robotics. ISER 2016. Springer Proceedings in Advanced Robotics, vol 1. Springer, Cham. https://doi.org/10.1007/978-3-319-50115-4_66

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  • DOI: https://doi.org/10.1007/978-3-319-50115-4_66

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-50114-7

  • Online ISBN: 978-3-319-50115-4

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