A Kalman Filter-Based Algorithm for IMU-Camera Calibration: Observability Analysis and Performance Evaluation

Faraz M. Mirzaei, Stergios I. Roumeliotis. A Kalman Filter-Based Algorithm for IMU-Camera Calibration: Observability Analysis and Performance Evaluation. IEEE Transactions on Robotics, 24(5):1143-1156, 2008. [doi]

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