In accordance with regulations and requirements, the editorial department's website domain has been changed to arocmag.cn. The original domain (arocmag.com) will be discontinued after Dec. 31st, 2024.
See More
App. Res. of Comp. Accepted Paper
Vol. 41, 2024 No. 12

Online temporal calibration based on cross-correlation and rotation constraints for visual-inertial odometry

Meng Junjie
Xiong Junlin
School of Information Science & Technology, University of Science & Technology of China, Hefei 230026, China
DOI: 10.19734/j.issn.1001-3695.2024.03.0114

Abstract

In the fusion of camera and inertial measurement unit (IMU) data for inferring the robot's trajectory, the timing of sensor measurements plays a crucial role in the robustness and accuracy of the Visual-Inertial Odometry (VIO) . However, due to differences in the delay of sensor data reaching the receiver, an unavoidable time offset exists between the image data stream and the IMU data stream. To address this issue, this paper proposed an algorithm based on cross-correlation and rotation constraints for online temporal calibration of VIO. First, it used the epipolar geometry and preintegration algorithms to obtain the relative poses for both the camera and the IMU. Then, it evaluated cross-correlation based on the angular velocities to obtain an initial estimate of the time offset. Finally, it utilized the relative pose between the camera and IMU to impose rotation constraints and optimize an error function, leading to a more accurate estimation of the time offset. It employ this time offset value to calibrate the sensors. Experimental results show that the proposed algorithm effectively mitigates the impact of time offset on the accuracy of odometry trajectories, enabling the system to reliably operate when significant time offsets exist in the data streams.

Foundation Support

国家自然科学基金资助项目(62273320)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.03.0114
Publish at: Application Research of Computers Accepted Paper, Vol. 41, 2024 No. 12

Publish History

[2024-09-02] Accepted Paper

Cite This Article

蒙军杰, 熊军林. 基于互相关和旋转约束的视觉惯性里程计在线时间校准算法 [J]. 计算机应用研究, 2024, 41 (12). (2024-09-11). https://doi.org/10.19734/j.issn.1001-3695.2024.03.0114. (Meng Junjie, Xiong Junlin. Online temporal calibration based on cross-correlation and rotation constraints for visual-inertial odometry [J]. Application Research of Computers, 2024, 41 (12). (2024-09-11). https://doi.org/10.19734/j.issn.1001-3695.2024.03.0114. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

Indexed & Evaluation

  • The Second National Periodical Award 100 Key Journals
  • Double Effect Journal of China Journal Formation
  • the Core Journal of China (Peking University 2023 Edition)
  • the Core Journal for Science
  • Chinese Science Citation Database (CSCD) Source Journals
  • RCCSE Chinese Core Academic Journals
  • Journal of China Computer Federation
  • 2020-2022 The World Journal Clout Index (WJCI) Report of Scientific and Technological Periodicals
  • Full-text Source Journal of China Science and Technology Periodicals Database
  • Source Journal of China Academic Journals Comprehensive Evaluation Database
  • Source Journals of China Academic Journals (CD-ROM Version), China Journal Network
  • 2017-2019 China Outstanding Academic Journals with International Influence (Natural Science and Engineering Technology)
  • Source Journal of Top Academic Papers (F5000) Program of China's Excellent Science and Technology Journals
  • Source Journal of China Engineering Technology Electronic Information Network and Electronic Technology Literature Database
  • Source Journal of British Science Digest (INSPEC)
  • Japan Science and Technology Agency (JST) Source Journal
  • Russian Journal of Abstracts (AJ, VINITI) Source Journals
  • Full-text Journal of EBSCO, USA
  • Cambridge Scientific Abstracts (Natural Sciences) (CSA(NS)) core journals
  • Poland Copernicus Index (IC)
  • Ulrichsweb (USA)