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VersaVIS-An Open Versatile Multi-Camera Visual-Inertial Sensor Suite.

Florian Tschopp1, Michael Riner1, Marius Fehr1,2

  • 1Autonomous Systems Lab, ETH Zurich, 8092 Zurich, Switzerland.

Sensors (Basel, Switzerland)
|March 12, 2020
PubMed
Summary
This summary is machine-generated.

VersaVIS is an open-source sensor suite that precisely synchronizes multiple cameras and inertial measurement units (IMUs) for robust mobile robotics. It achieves sub-millisecond timing accuracy, enhancing visual-inertial SLAM and other applications.

Keywords:
IMUcameraembeddedsensor fusiontime synchronizationvisual-inertial SLAM

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Area of Science:

  • Robotics
  • Computer Vision
  • Sensor Fusion

Background:

  • Accurate pose estimation is vital for mobile robotics.
  • Integrating inertial measurement units (IMUs) with visual Simultaneous Localization and Mapping (SLAM) enhances robustness.
  • Precise time synchronization between sensors is critical for effective sensor fusion.

Purpose of the Study:

  • To introduce VersaVIS, an open-source, versatile multi-camera visual-inertial sensor suite.
  • To provide an efficient research platform for mobile robotic applications.
  • To address challenges in sensor synchronization, including varying exposure times and system delays.

Main Methods:

  • Developed a comprehensive hardware, firmware, and software bundle for sensor synchronization.
  • Implemented features for exposure compensation, host clock translation, and independent/stereo camera triggering.
  • Supported a wide range of cameras and IMUs for application flexibility.

Main Results:

  • Achieved timing synchronization accuracy of less than 1 millisecond.
  • Demonstrated the platform's applicability in visual-inertial SLAM.
  • Showcased versatility in multi-camera, multi-modal mapping, and object-based mapping.

Conclusions:

  • VersaVIS offers a robust and accurate solution for multi-sensor time synchronization in mobile robotics.
  • The open-source nature facilitates easy deployment, integration, and extension for research.
  • The achieved synchronization accuracy significantly benefits advanced robotic applications.