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InerVis Toolbox for Matlab

:: 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

:: How to use InerVis


:: Toolbox requirements


:: 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.

:: Snap shots

    imu_cam_menu.gifimu_cam_big_sphere.gif

:: 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.