Continuous Models for Cameras and Inertial Sensors.

• Superior document: Linköping Studies in Science and Technology. Dissertations Series ; v.1951
• Author: Ovrén, Hannes.
• Place / Publishing House: Linköping : : Linkopings Universitet,, 2018.; {copy}2018.
• Year of Publication: 2018
• Edition: 1st ed.
• Language: English
• Series: Linköping Studies in Science and Technology. Dissertations Series
• Physical Description: 1 online resource (78 pages)

Table of Contents

Intro -- POPULÄRVETENSKAPLIG SAMMANFATTNING -- ABSTRACT -- Acknowledgments -- Contents -- I Background -- Introduction -- Motivation -- Contributions -- Outline -- Included publications -- Other publications -- Sensors -- Cameras -- Depth cameras -- Inertial measurement units -- Continuous-time visual-inertial fusion -- Simultaneous localization and mapping (SLAM) -- Structure from motion by bundle adjustment -- Continuous-time structure from motion -- Inertial measurements -- Trajectory smoothness constraints -- Landmark representation -- Rolling shutter modelling -- Robust structure from motion -- Spline-based trajectories -- B-splines -- Splines as camera pose trajectories -- Splines in R3 -- Splines in SO(3) -- Splines in SE(3) -- Representation power -- Camera-IMU calibration -- Camera calibration -- Rolling shutter image readout calibration -- IMU calibration -- Camera-IMU calibration and synchronization -- Evaluation methods -- Ground-truth trajectories -- Indirect trajectory quality metrics -- Measuring 3D distortion -- Concluding remarks -- Bibliography -- Papers.