Extrinsic visual–inertial calibration for motion distortion correction of underwater 3D scans
dc.contributor.author
dc.date.accessioned
2021-06-30T09:46:32Z
dc.date.available
2021-06-30T09:46:32Z
dc.date.issued
2021-06-24
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dc.description.abstract
Underwater 3D laser scanners are an essential type of sensor used by unmanned underwater vehicles (UUVs) for operations such as navigation, inspection, and object recognition and manipulation. Scanners that acquire 3D data by sweeping a laser plane across the scene can provide very high lateral resolution. However, their data may suffer from rolling shutter effect if the change of pose of the robot with respect to the scanned target during the sweep is not negligible. In order to compensate for motion-related distortions without the need for point cloud postprocessing, the 6-DoF pose at which the scanner acquires each line needs to be accurately known. In the underwater domain, autonomous vehicles are often equipped with a high-end inertial navigation system (INS) that provides reliable navigation data. Nonetheless, the relative pose of the 3D scanner with respect to the inertial reference frame of the robot is not usually known a priori. Therefore, this paper uses an ego-motion-based calibration algorithm to calibrate the extrinsic parameters of the visual-inertial sensor pair. Simulations are performed to quantify how miscalibration affects motion-related distortion. The method is also evaluated experimentally in laboratory conditions
dc.description.sponsorship
This research was founded by the GIRONA1000 project (grant number DPI2017-86372-C3-2-R, by the Spanish Ministry of Science), the EUMR project (grant number H2020-INFRAIA-2017-1-twostage-731103, by the European Commission), by the doctoral grant of the University of Girona IFUdG2019 and by the Secretaria d’Universitats i Recerca del Departament d’Economia i Coneixement de la Generalitat de Catalunya under grant 2019FI_B_00812
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application/pdf
dc.language.iso
eng
dc.publisher
Institute of Electrical and Electronics Engineers (IEEE)
dc.relation
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-86372-C3-2-R/ES/ROBOT SUBMARINO COOPERATIVO PARA LA INTERVENCION/
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Reproducció digital del document publicat a: https://doi.org/10.1109/ACCESS.2021.3092180
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IEEE Access, 2021, vol.undef, p. undef
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Articles publicats (D-ATC)
dc.rights
Attribution-NonCommercial-NoDerivatives 4.0 International
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dc.subject
dc.title
Extrinsic visual–inertial calibration for motion distortion correction of underwater 3D scans
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.relation.projectID
info:eu-repo/grantAgreement/EC/H2020/731103/EU/Marine robotics research infrastructure network/EUMarineRobots
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.contributor.funder
dc.type.peerreviewed
peer-reviewed
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dc.identifier.eissn
2169-3536