An Online Calibration Method for UAV Electro-Optical Pod Zoom Cameras Based on IMU-Vision Fusion

Highlights

What are the main findings?

• A unified state estimation framework integrating IMU data and visual information is proposed, enabling real-time dynamic estimation of zoom camera intrinsic parameters with high precision and fast convergence.
• The improved ORB feature extraction and LK optical flow tracking strategies enhance the robustness of visual observations, while EKF-based fusion of high-frequency IMU motion constraints and visual geometric constraints effectively suppresses parameter drift during continuous zooming.