Visual-inertial self-calibration on informative motion segments

Environmental conditions and external effects, such as shocks, have a significant impact on the calibration parameters of visual-inertial sensor systems. Thus long-term operation of these systems cannot fully rely on factory calibration. Since the observability of certain parameters is highly dependent on the motion of the device, using short data segments at device initialization may yield poor results. When such systems are additionally subject to energy constraints, it is also infeasible to use full-batch approaches on a big dataset and careful selection of the data is of high importance. In this paper, we present a novel approach for resource efficient self-calibration of visual-inertial sensor systems. This is achieved by casting the calibration as a segment-based optimization problem that can be run on a small subset of informative segments. Consequently, the computational burden is limited as only a predefined number of segments is used. We also propose an efficient information-theoretic selection to identify such informative motion segments. In evaluations on a challenging dataset, we show our approach to significantly outperform state-of-the-art in terms of computational burden while maintaining a comparable accuracy

Inversion of multiconfiguration complex EMI data with minimum gradient support regularization: A case study

Frequency-domain electromagnetic instruments allow the collection of data in different configurations, that is, varying the intercoil spacing, the frequency, and the height above the ground. Their handy size makes these tools very practical for near-surface characterization in many fields of applications, for example, precision agriculture, pollution assessments, and shallow geological investigations. To this end, the inversion of either the real (in-phase) or the imaginary (quadrature) component of the signal has already been studied. Furthermore, in many situations, a regularization scheme retrieving smooth solutions is blindly applied, without taking into account the prior available knowledge. The present work discusses an algorithm for the inversion of the complex signal in its entirety, as well as a regularization method that promotes the sparsity of the reconstructed electrical conductivity distribution. This regularization strategy incorporates a minimum gradient support stabilizer into a truncated generalized singular value decomposition scheme. The results of the implementation of this sparsity-enhancing regularization at each step of a damped Gauss-Newton inversion algorithm (based on a nonlinear forward model) are compared with the solutions obtained via a standard smooth stabilizer. An approach for estimating the depth of investigation, that is, the maximum depth that can be investigated by a chosen instrument configuration in a particular experimental setting is also discussed. The effectiveness and limitations of the whole inversion algorithm are demonstrated on synthetic and real data sets