VIW-Fusion: Extrinsic Calibration and Pose Estimation for Visual-IMU-Wheel Encoder System
Chunxiao Qiao,Shuying Zhao,Yunzhou Zhang,Yahui Wang,Dan Zhang,Chunxiao Qiao,Shuying Zhao,Yunzhou Zhang,Yahui Wang,Dan Zhang
The data fusion of camera, IMU, and wheel encoder measurements has proved its effectiveness in localizing ground robots, and obtaining accurate sensor extrinsic parameters is its premise. We propose an extrinsic parameter calibration algorithm and a multi-sensor-based pose estimation algorithm for the camera-IMU-wheel encoder system. First, we propose a joint calibration algorithm for the extrinsi...
