Time Calibration Method for Vision Sensor and Inertial Sensor

Fengjie Fu; Chenmao Li; Li Wu; Yanqing Liu; Dongchen Zhu; Jiamao Li; Xiaolin Zhang

doi:10.3788/AOS202141.2415002

Acta Optica Sinica, Volume. 41, Issue 24, 2415002(2021)

Time Calibration Method for Vision Sensor and Inertial Sensor

Fengjie Fu^1,2、*, Chenmao Li¹, Li Wu¹, Yanqing Liu¹, Dongchen Zhu¹, Jiamao Li^1,2, and Xiaolin Zhang^1,2,3

¹State Key Laboratory of Transducer Technology-Bionic Vision System Laboratory, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai 200050, China

²University of Chinese Academy of Sciences, Beijing 100049, China

³School of Information Science and Technology, ShanghaiTech University, Shanghai 201210, China

show less

Abstract Get PDF(in Chinese)

Figures & Tables(18)

Fig. 1. Schematic diagram of time calibration device for vision sensor and inertial sensor based on pendulum

Download full size

Fig. 2. Time calibration principle of vision sensor and inertial sensor based on pendulum

Download full size

Fig. 3. Time calibration device of CIS and IMU based on pendulum

Download full size

Fig. 4. Dial scale images captured by CIS. (a) Former frame; (b) later frame

Download full size

Fig. 5. Scale value corresponding to center point of image sequence

Download full size

Fig. 6. Sensor data and fitting curves when swing amplitude is 12°--15°. (a) CIS; (b) IMU

Download full size

Fig. 7. IMU delay calibration results when filter delay is 2.9 ms and IMU temperature is (46±1) ℃

Download full size

Fig. 8. IMU delay calibration results when filter delay is 3.9 ms, IMU temperature is (46±1) ℃, and data output rate is 1000 Hz

Download full size

Fig. 9. IMU delay calibration results when filter delay is 5.9 ms, IMU temperature is (46±1) ℃, and data output rate is 1000 Hz

Download full size

Fig. 10. Relationship between IMU delay and data output interval

Download full size

Fig. 11. IMU delay for different temperature

Download full size

Table 1. IMU delay calibration results for data output rates 1000, 500, 250, and 200 Hz when filter delay is 2.9 ms and IMU temperature is (46±1) ℃

View table

Table 1. IMU delay calibration results for data output rates 1000, 500, 250, and 200 Hz when filter delay is 2.9 ms and IMU temperature is (46±1) ℃

Data output rate of IMU /Hz	15°--10°		10°--5°		5°--2°
Data output rate of IMU /Hz	Delay /ms	Variance /10^-3	Delay /ms	Variance /10^-3	Delay /ms	Variance /10^-2
1000	3.186	3.33	3.078	8.99	2.822	6.27
500	4.570	3.94	4.490	15.20	4.255	7.49
250	7.411	4.46	7.324	11.20	7.001	6.64
200	8.901	2.39	8.754	14.00	8.416	4.40

Table 2. IMU delay calibration results for data rates 1000, 500, 250, and 200 Hz when filter delay is 3.9 ms and IMU temperature is (46±1) ℃

View table

Table 2. IMU delay calibration results for data rates 1000, 500, 250, and 200 Hz when filter delay is 3.9 ms and IMU temperature is (46±1) ℃

Data output rate of IMU /Hz	15°--10°		10°--5°		5°--2°
Data output rate of IMU /Hz	Delay /ms	Variance /10^-3	Delay /ms	Variance /10^-3	Delay /ms	Variance /10^-2
1000	4.153	3.42	4.064	8.93	3.788	7.69
500	5.580	2.99	5.481	12.60	5.225	6.31
250	8.427	3.78	8.303	13.30	7.960	8.69
200	9.852	2.85	9.765	8.10	9.441	4.11

Table 3. IMU delay calibration results for data output rates 1000, 500, 250, and 200 Hz when filter delay is 5.9 ms and IMU temperature is (46±1) ℃

View table

Table 3. IMU delay calibration results for data output rates 1000, 500, 250, and 200 Hz when filter delay is 5.9 ms and IMU temperature is (46±1) ℃

Data output rate of IMU /Hz	15°--10°		10°--5°		5°--2°
Data output rate of IMU /Hz	Delay /ms	Variance /10^-3	Delay /ms	Variance /10^-2	Delay /ms	Variance /10^-2
1000	6.135	2.64	6.034	1.22	5.765	4.50
500	7.554	9.21	7.449	1.36	7.171	5.48
250	10.437	3.49	10.339	1.03	10.007	9.94
200	11.841	3.89	11.744	92.30	11.453	6.66

Table 4. IMU delay calibration results and comparison when swing amplitude is 15°--9° and IMU temperature is (46±1) ℃

View table

Table 4. IMU delay calibration results and comparison when swing amplitude is 15°--9° and IMU temperature is (46±1) ℃

Data output rate of IMU /Hz	Calibration method	IMU filter delay			IMU delay difference
Data output rate of IMU /Hz	Calibration method	D1 (2.9 ms)	D2 (3.9 ms)	D3 (5.9 ms)	D2--D1	D3--D2	D3--D1
1000	Ours	3.177	4.145	6.128	0.968	1.983	2.951
1000	Kalibr	4.960	4.967	5.970	0.007	1.003	1.010
500	Ours	4.567	5.548	7.546	0.981	1.998	2.979
500	Kalibr	5.996	5.972	5.968	-0.024	-0.004	-0.028
250	Ours	7.409	8.417	10.431	1.008	2.014	3.022
250	Kalibr	7.959	8.909	9.907	0.950	0.998	1.948
200	Ours	8.829	9.842	11.830	1.013	1.988	3.001
200	Kalibr	9.942	9.960	10.867	0.019	0.906	0.925

Table 5. IMU delay calibration results with different exposure time and different timestamp mode ms

View table

Table 5. IMU delay calibration results with different exposure time and different timestamp mode ms

Method		Exposure time of 1.0 ms		Exposure time of 1.5 ms		Exposure time of 2.0 ms
Method		Delay	Error	Delay	Error	Delay	Error
Our method (with different timestamp mode)	Begin mode	3.687	0.510	3.926	0.759	4.161	1.006
	Middle mode	3.177	0	3.167	0	3.155	0
	End mode	2.692	-0.485	2.433	-0.734	2.165	-0.990
Kalibr		4.960		4.963		1.688

Table 6. Repeat test results of IMU0 delay calibration ms
View table
Table 6. Repeat test results of IMU0 delay calibration ms
Calibration method Our method Kalibr
IMU0 temperature /℃ 24.5±0.5 28.5±0.5 37.0±0.5 43.0±0.5 45.0±0.5 44.2±1.7
Average 3.033 3.116 3.157 3.153 3.134 3.240
Standard deviation /10^-2 1.28 1.03 1.64 1.74 1.38 93.90

Table 7. [in Chinese]
View table
Table 7. [in Chinese]
Calibration method Our method Kalibr
IMU1 temperature /℃ 27.5±0.5 30.5±0.5 40.0±0.5 46.0±0.5 48.5±0.5 42.2±1.6
Average 3.058 3.128 3.159 3.170 3.136 4.161
Standard deviation /10^-3 7. 56 10.30 16.70 17.10 0.15 1.97

Tools

Get Citation

Copy Citation Text

Fengjie Fu, Chenmao Li, Li Wu, Yanqing Liu, Dongchen Zhu, Jiamao Li, Xiaolin Zhang. Time Calibration Method for Vision Sensor and Inertial Sensor[J]. Acta Optica Sinica, 2021, 41(24): 2415002

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites

Paper Information

Category: Machine Vision

Received: May. 24, 2021

Accepted: Jun. 28, 2021

Published Online: Dec. 10, 2021

The Author Email: Fu Fengjie (fengjiefu@mail.sim.ac.cn)

DOI:10.3788/AOS202141.2415002

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. IMU delay calibration results for data output rates 1000, 500, 250, and 200 Hz when filter delay is 2.9 ms and IMU temperature is (46±1) ℃

Table 1. IMU delay calibration results for data output rates 1000, 500, 250, and 200 Hz when filter delay is 2.9 ms and IMU temperature is (46±1) ℃

Table 2. IMU delay calibration results for data rates 1000, 500, 250, and 200 Hz when filter delay is 3.9 ms and IMU temperature is (46±1) ℃

Table 2. IMU delay calibration results for data rates 1000, 500, 250, and 200 Hz when filter delay is 3.9 ms and IMU temperature is (46±1) ℃

Table 3. IMU delay calibration results for data output rates 1000, 500, 250, and 200 Hz when filter delay is 5.9 ms and IMU temperature is (46±1) ℃

Table 3. IMU delay calibration results for data output rates 1000, 500, 250, and 200 Hz when filter delay is 5.9 ms and IMU temperature is (46±1) ℃

Table 4. IMU delay calibration results and comparison when swing amplitude is 15°--9° and IMU temperature is (46±1) ℃

Table 4. IMU delay calibration results and comparison when swing amplitude is 15°--9° and IMU temperature is (46±1) ℃

Table 5. IMU delay calibration results with different exposure time and different timestamp mode ms

Table 5. IMU delay calibration results with different exposure time and different timestamp mode ms

Table 6. Repeat test results of IMU0 delay calibration ms

Table 6. Repeat test results of IMU0 delay calibration ms

Table 7. [in Chinese]

Table 7. [in Chinese]