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Online time offset estimation for visual-inertial system
The project aims to develop an algorithm to estimate the time offset between a camera and an IMU.
Visual-inertial odometry (VIO) has progressed significantly recently and finds a lot of real-world applications. One of the crucial requirement for good performance is to have a synchronized camera and inertial measurement unit. However, many low-cost systems do not have good synchronization, which limits the use of VIO. As an alternative, the time offset can be estimated by software. Existing methods to estimate the time offset either operate offline or only applies to specific algorithms. A lightweight algorithm that can estimate the camera-IMU offset will greatly extend the application scenarios of VIO.
Visual-inertial odometry (VIO) has progressed significantly recently and finds a lot of real-world applications. One of the crucial requirement for good performance is to have a synchronized camera and inertial measurement unit. However, many low-cost systems do not have good synchronization, which limits the use of VIO. As an alternative, the time offset can be estimated by software. Existing methods to estimate the time offset either operate offline or only applies to specific algorithms. A lightweight algorithm that can estimate the camera-IMU offset will greatly extend the application scenarios of VIO.
The goal of the project is to develop an efficient and flexible algorithm to estimate the time offset between a camera and an IMU.
The goal of the project is to develop an efficient and flexible algorithm to estimate the time offset between a camera and an IMU.