| This paper proposes an approach to calibrate off-the-shelf cameras
and inertial sensors to have a useful integrated system to be used
in static and dynamic situations. When both sensors are integrated
in a system their relative pose needs to be determined. The rotation
between the camera and the inertial sensor can be estimated, concurrently
with camera calibration, by having both sensors observe the
vertical direction in several poses. The camera relies on a vertical
chequered planar target and the inertial sensor on gravity to obtain
a vertical reference. Depending on the setup and system motion, the
translation between the two sensors can also be important. Using a
simple passive turntable and static images, the translation can be estimated.
The system needs to be placed in several poses and adjusted
to turn about the inertial sensor centre, so that the lever arm to the
camera can be determined. Simulation and real data results are presented
to show the validity and simple requirements of the proposed
methods. |
