Chunxiao Qiao

VIW-Fusion: Extrinsic Calibration and Pose Estimation for Visual-IMU-Wheel Encoder System

The data fusion of camera, IMU, and wheel encoder measurements has proved its effectiveness in localizing ground robots, and obtaining accurate sensor extrinsic parameters is its premise. We propose an extrinsic parameter calibration algorithm and a multi-sensor-based pose estimation algorithm for t…