InerVis Toolbox for Matlab

IMU CAM calibration

Inertial Measurement Unit and Camera Calibration Toolbox

Toolbox features:

Estimates unkown rotation quaternion between Inertial Measurement Unit and Camera.
Requires a set of static observations of a vertical chessboard target and sensed gravity.
Unit sphere image projection 3D graphic showing vanishing point, gravity and reprojected vertical.
Rotation reprojection error plot.
If you have rendering errors please run the maltab command 'opengl software' before launching imucam.m

Toolbox requirements:

Camera Calibration Toolbox for Matlab

used to perform camera calibration and extract chessboard target position

Robotics Toolbox for MATLAB

used for quaternion computation

Toolbox function list:

imucam : menu driven user interface.
get_cam_xsens_mti.m: capture images (Firewire or USB) and IMU data from Xsens MTi,
can be edited to use with other inertial sensors.

Downloads:

imu_cam_toolbox InerVis Toolbox for IMU CAMera calibration.
example1 data set with 11 images with camera calibration done and corresponding imu data files.
xsens log loader xsenslog2imu.m: converts xsens log files to imu data text files.

Related links:

camera calibration toolbox http://www.vision.caltech.edu/bouguetj/calib_doc/index.html
robotics toolbox http://www.cat.csiro.au/cmst/staff/pic/robot/
image capture for matlab http://www.ikko.k.hosei.ac.jp/~matlab/matkatuyo/vcapg2.htm
matlab 3D arrows...
matlab clickmove...

Snap shots:

References:

Jorge Lobo and Jorge Dias, "Relative Pose Calibration Between Visual and Inertial Sensors", Proceedings of the ICRA 2005 Workshop on Integration of Vision and Inertial Sensors - 2nd InerVis, Barcelona, Spain, April 18, 2005
Jorge Lobo and Jorge Dias, "Relative Pose Calibration Between Visual and Inertial Sensors", International Journal of Robotics Research, June 2007, Volume 26, No. 6.

Last update: 27th June 2008 by Jorge Lobo.
Please send any comments or sugestions to jlobo@isr.uc.pt