Vins-mono细节描述--相机imu外参标定

vins-mono能够在初始化的时候,自动标定相机和imu的外参,这个强大的功能其实并没有想象中那么复杂,一起来看看.

1.在vins-mono的配置文件中,就可以找到参数,来选择,是否需要估计参数.

# Extrinsic parameter between IMU and Camera.
estimate_extrinsic: 0   # 0  Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
                        # 1  Have an initial guess about extrinsic parameters. We will optimize around your initial guess.
                        # 2  Don't know anything about extrinsic parameters. You don't need to give R,T. We will try to calibrate it. Do some rotation movement at beginning.    

2. 当完全没有参数估计时,流程如下

 关键函数是 CalibrationExRotation

它干了什么呢?

它的输入是两帧之间的图像匹配点和预积分得到的旋转角的变化===>这有什么用呢?

a. 通过两帧之间的匹配点,我们可以通过相机