Active Vision with Dynamic Camera Clusters

we present the online extrinsic calibration between a dynamic camera mounted to an actuated mechanism and an IMU mounted to the body of the vehicle integrated into a Visual Odometry pipeline. In addition, we provide a degeneracy analysis of the calibration parameters leading to a novel parameterization of the actuated mechanism used in the calibration. We build our calibration into the VINS-Fusion package and show that we are able to accurately recover the calibration parameters online while manipulating the viewpoint of the camera to feature rich areas

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A novel method that performs accurate calibration of a Dynamic Camera Cluster with multiple static cameras using a pose-loop error formulation. We also present an analysis of the degenerate parameters in the calibration when the joint angle value are not available.

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Calibration of a DCC was performed without knowledge of joint encoder angles and tested in a Visual Intertial Odometry application.​

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A novel active vision approach to DCC calibration, which directly reduces parameter uncertainty by selecting calibration measurements using an information theoretic next-best-view policy was developed.

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A calibration method for dynamic multi-camera clusters, where one or more of the cameras is mounted to an actuated mechanism such as a gimbal or robotic manipulator.

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