Abstract:This paper presents a method for calibration of the extrinsic parameters of a sensor system that combines a camera with an inertial measurement unit (IMU) to estimate the pendulum motion of a crane payload. The camera measures the position and orientation of a fiducial marker on the payload, while the IMU is fixed to the payload and measures angular velocity and specific force. The placements of the marker and the IMU are initially unknown, and the extrinsic calibration parameters are their position and orient… Show more
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