Online IMU Intrinsic Calibration: Is It Necessary?
Online IMU Intrinsic Calibration: Is It Necessary?
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DOI：
10.15607/rss.2020.xvi.026
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发表时间：
2020-07
期刊：
影响因子：
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通讯作者：
Yulin Yang;Patrick Geneva;Xingxing Zuo;G. Huang
中科院分区：
文献类型：
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作者：
Yulin Yang;Patrick Geneva;Xingxing Zuo;G. Huang
本文讨论了视觉-惯性组合自标定问题，重点讨论了惯性组合在线内标的必要性。为此，我们进行可观测性分析的视觉惯性导航系统（VINS）与四个不同的惯性模型的变种包含- ING的内部参数，包括一个常用的IMU模型的低成本惯性传感器。该分析从理论上证实了文献中直观地认为的内容，即在完全激励的6轴运动下，IMU本征函数是可观察的。此外，我们首次识别出6种原始退化运动用于IMU内部校准。每个退化运动轮廓将导致一组内参数不可观测，并且这些退化运动的任何组合仍然是退化的。这一结果适用于所有四种惯性模型变量，并对许多机器人应用中执行在线IMU固有校准的必要性具有重要意义。大量的仿真和真实世界的实验进行验证我们的可观测性分析和退化运动分析。
—This paper addresses the problem of visual- inertial self-calibration while focusing on the necessity of online IMU intrinsic calibration. To this end, we perform observability analysis for visual-inertial navigation systems (VINS) with four different inertial model variants contain- ing intrinsic parameters that encompass one commonly used IMU model for low-cost inertial sensors. The analysis theoretically confirms what is intuitively believed in the literature, that is, the IMU intrinsics are observable given fully-excited 6-axis motion. Moreover, we, for the first time, identify 6 primitive degenerate motions for IMU intrinsic calibration. Each degenerate motion profile will cause a set of intrinsic parameters to be unobservable and any combination of these degenerate motions are still degenerate. This result holds for all four inertial model variants and has significant implications on the necessity to perform online IMU intrinsic calibration in many robotic applications. Extensive simulations and real-world experiments are performed to validate both our observability analysis and degenerate motion analysis.