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INS-camera calibration without ground control points

: Bender, D.; Schikora, M.; Sturm, J.; Cremers, D.


Institute of Electrical and Electronics Engineers -IEEE-; IEEE Aerospace and Electronic Systems Society -AESS-; International Society of Information Fusion -ISIF-:
9th Workshop on Sensor Data Fusion: Trends, Solutions, and Applications, SDF 2014 : 8-10 October 2014, Bonn, Germany
Piscataway, NJ: IEEE, 2014
ISBN: 978-1-4799-7388-0
ISBN: 978‐1-­4799‐7387‐3
6 S.
Workshop on Sensor Data Fusion (SDF) <9, 2014, Bonn>
Fraunhofer FKIE ()

In this paper we present an approach for performing system calibration of a sensor suite consisting of a fixed mounted camera and an inertial navigation system without the usage of a photogrammetric calibration site. The aim of the presented work is to obtain accurate direct georeferencing of camera images collected with manned or unmanned aerial systems for search and rescue tasks. These time-critical missions require a straightforward calibration which can be performed without additional equipment. This induces an in-flight calibration of the intrinsic camera parameters in addition to the mounting offsets between the camera and the inertial navigation system. The optimization of these values can be done by introducing them as parameters into a bundle adjustment process. We show how to solve this by exploiting a graph optimization framework. The evaluation of the proposed approach with data from flight experiments leads to an improvement of roughly factor six compared to a terrestrial calibration.