Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-1/W2, 39-44, 2013
© Author(s) 2013. This work is distributed under
the Creative Commons Attribution 3.0 License.
16 Aug 2013
D. Bender2,1, M. Schikora2,1, J. Sturm2, and D. Cremers2 1Department Sensor Data and Information Fusion, Fraunhofer FKIE, Wachtberg, Germany
2Computer Vision Group, Technical University of Munich, Garching, Germany
Keywords: GPS/INS, Camera, Non-Metric, Calibration, Georeferencing, Aerial, Bundle Adjustment, Graph Optimization Abstract. In this paper, we present a graph based approach for performing the system calibration of a sensor suite containing a fixed mounted camera and an inertial navigation system. The aim of the presented work is to obtain accurate direct georeferencing of camera images collected with small unmanned aerial systems. Prerequisite for using the pose measurements from the inertial navigation system as exterior orientation for the camera is the knowledge of the static offsets between these devices. Furthermore, the intrinsic parameters of the camera obtained in a laboratory tend to deviate slightly from the values during flights. This induces an in-flight calibration of the intrinsic camera parameters in addition to the mounting offsets between the two devices. The optimization of these values can be done by introducing them as parameters into a bundle adjustment process. We show how to solve this by exploiting a graph optimization framework, which is designed for the least square optimization of general error functions.
Conference paper (PDF, 1465 KB)

Citation: Bender, D., Schikora, M., Sturm, J., and Cremers, D.: A GRAPH BASED BUNDLE ADJUSTMENT FOR INS-CAMERA CALIBRATION, Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-1/W2, 39-44,, 2013.

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