Unified Data Collection for Visual-Inertial Calibration via Deep Reinforcement Learning
Yunke Ao,Le Chen,Florian Tschopp,Michel Breyer,Roland Siegwart,Andrei Cramariuc,Yunke Ao,Le Chen,Florian Tschopp,Michel Breyer,Roland Siegwart,Andrei Cramariuc
Visual-inertial sensors have a wide range of applications in robotics. However, good performance often requires different sophisticated motion routines to accurately calibrate camera intrinsics and inter-sensor extrinsics. This work presents a novel formulation to learn a motion policy to be executed on a robot arm for automatic data collection for calibrating intrinsics and extrinsics jointly. Ou...
