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cs.RO2013
On 'A Kalman Filter-Based Algorithm for IMU-Camera Calibration: Observability Analysis and Performance Evaluation'
Yuanxin Wu
The above-mentioned work [1] in IEEE-TR'08 presented an extended Kalman filter for calibrating the misalignment between a camera and an IMU. As one of the main contributions, the l…
cs.RO2013
Further results on "Velocity-position integration formula, part I-Application to in-flight alignment"
Yuanxin Wu
This note improves our above-mentioned recent work by effectively depressing the adverse effect of the lever arm on attitude estimation.