Temporal and Geometric Calibration between Camera and IMU Systems for Motion Estimation

Abstract

Cameras and IMU (Inertial Measurement Unit) systems help driving AR (Augmented Reality) and MR (Mixed Reality) applications more effectively. However, the temporal and geometric offsets between the two systems cause problems of asynchronization when the mobile devices move. This paper proposes the method to minimize the geometric distortion of IMU and the temporal offset between camera and IMU. This approach does not require any additional devices for calibration and estimates the relationship of two systems from the consumer's daily use. According to the verification using external calibration devices, the proposed method reduces the temporal and geometric offsets between camera and IMU systems within camera frame rate and 1% error, respectively.