Robust RGB-D-IMU Calibration Method Applied to GPS-Aided Pose Estimation

Abanob Soliman, Fabien Bonardi, Désiré Sidibé, Samia Bouchafa

2023

Abstract

The challenging problem of multi-modal sensor fusion for 3D pose estimation in robotics, known as odometry, relies on the precise calibration of all sensor modalities within the system. Optimal values for time-invariant intrinsic and extrinsic parameters are estimated using various methodologies, from deterministic filters to nondeterministic optimization models. We propose a novel optimization-based method for intrinsic and extrinsic calibration of an RGB-D-IMU visual-inertial setup with a GPS-aided optimizer bootstrapping algorithm. Our front-end pipeline provides reliable initial estimates for the RGB camera intrinsics and trajectory based on an optical flow Visual Odometry (VO) method. Besides calibrating all time-invariant properties, our back-end optimizes the spatio-temporal parameters such as the target’s pose, 3D point cloud, and IMU biases. Experimental results on real-world and realistically high-quality simulated sequences validate the proposed first complete RGB-D-IMU setup calibration algorithm. Ablation studies on ground and aerial vehicles are conducted to estimate each sensor’s contribution in the multi-modal (RGB-D-IMU-GPS) setup on the vehicle’s pose estimation accuracy. GitHub repository: https://github.com/AbanobSoliman/HCALIB.

Paper Citation

in Harvard Style

Soliman A., Bonardi F., Sidibé D. and Bouchafa S. (2023). Robust RGB-D-IMU Calibration Method Applied to GPS-Aided Pose Estimation. In Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 4: VISAPP; ISBN 978-989-758-634-7, SciTePress, pages 83-94. DOI: 10.5220/0011656800003417

in Bibtex Style

@conference{visapp23,
author={Abanob Soliman and Fabien Bonardi and Désiré Sidibé and Samia Bouchafa},
title={Robust RGB-D-IMU Calibration Method Applied to GPS-Aided Pose Estimation},
booktitle={Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 4: VISAPP},
year={2023},
pages={83-94},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011656800003417},
isbn={978-989-758-634-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 4: VISAPP
TI - Robust RGB-D-IMU Calibration Method Applied to GPS-Aided Pose Estimation
SN - 978-989-758-634-7
AU - Soliman A.
AU - Bonardi F.
AU - Sidibé D.
AU - Bouchafa S.
PY - 2023
SP - 83
EP - 94
DO - 10.5220/0011656800003417
PB - SciTePress