RS_IEKF

Parameter estimation using IEKF for RS camera. The following figure shows the illustration.

Src

In src folder, you will find all source code.

Dependency

To run with the main.m, you need to download the dataset provided in this paper.

Jia, C., & Evans, B. L. (2013, December). Online calibration and synchronization of cellphone camera and gyroscope. In 2013 IEEE Global Conference on Signal and Information Processing (pp. 731-734). IEEE.

1. download the file;
2. create a folder called thirdparty;
3. copy the downloaded file to thirdparty and uncompress it.
4. make sure the directory is like thirdparty/gyro_camera_calibration/

Usage

1. open main.m and run.
2. you can config the filter type in the config.m.

More results

Experiments on public datasets provided in this paper.

Hannes Ovrén, Per-Erik Forssén, "Gyroscope-based video stabilisation with auto-calibration", 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE International Conference on Robotics and Automation ICRA, 2090-2097, 2015.

rccar dataset Estimations are: tr: 0.0294 td: 5.2006; wd: [-0.0043 -6.4969e-04 -0.0013]; Ric: [0.0293 0.9996 0.0011; -0.9994 0.0293 -0.0185;-0.0185 -0.0006 0.9998]

The references are: tr: 0.0316734 td: 5.20867366868152E+00 wd: [-5.09433180476134E-03 -7.9750612785219E-03 7.11096622185005E-03]; Ric: [ -0.0712 0.9974 -0.0130; -0.9954 -0.0719 -0.0640; -0.0648 0.0084 0.9979]

rotation dataset Estimations are: tr: 0.0315; td: 2.8005; wd: [2.0156e-04 1.8922e-04 -2.1981e-04]; Ric: [ 0.0307 0.9995 -0.0001; -0.9995 0.0307 0.0000; 0.0000 0.0001 1.0000];

The references are: tr: 0.0316734 td: 2.83818847389866E+00 wd: [-4.89355970494164E-03 -7.69152770619337E-03 9.78420813209227E-03]; Ric: [ 0.0288 0.9996 -0.0011;-0.9996 0.0288 -0.0030;-0.0029 0.0012 1.0000];

walk dataset Estimations are: tr: 0.0309; td: 3.3904; wd: [0.0013 -0.0021 3.7599e-04]; Ric: [ 0.0310 0.9995 -0.0002; -0.9995 0.0310 0.0027; 0.0027 0.0001 1.0000];

The references are: tr: 0.0316734 td: 3.38581144830956E+00 wd: [-3.76554195856584E-03 -1.13762523611197E-02 1.05866716566729E-02]; Ric: [ 0.0213 0.9998 0.0024; -0.9996 0.0212 0.0164; 0.0164 -0.0028 0.9999];

Note

if you use the mentioned dataset, please cite the original work.

if you use the re-implemented version ekf_epipolar_analytic.m, please cite the original work by the author

Jia, C., & Evans, B. L. (2014). Online camera-gyroscope autocalibration for cell phones. IEEE Transactions on Image Processing, 23(12), 5070-5081.

if you use the dataset in the data folder, please cite the original work.

if you use other files, please cite this work:

Hu, X., Olesen, D. and Knudsen, P., 2020, October. Multistate Constrained Invariant Kalman Filter For Rolling Shutter Camera And Imu Calibration. In 2020 IEEE International Conference on Image Processing (ICIP) (pp. 56-60). IEEE.