# On 'A Kalman Filter-Based Algorithm for IMU-Camera Calibration: Observability Analysis and Performance Evaluation'

arXiv: https://arxiv.org/abs/1311.4769 · HTML: https://mlsanity.com/paper/1311.4769/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Nov 2013.

## Built on by (most cited first, 8 of 8)

- [SEE: See Everything Every Time -- Adaptive Brightness Adjustment for Broad Light Range Images via Events](https://mlsanity.com/paper/2502.21120/) (2025)
- [Accurate and Interactive Visual-Inertial Sensor Calibration with Next-Best-View and Next-Best-Trajectory Suggestion](https://mlsanity.com/paper/2309.14514/) (2023)
- [Learning active tactile perception through belief-space control](https://mlsanity.com/paper/2312.00215/) (2023)
- [Full Body Video-Based Self-Avatars for Mixed Reality: from E2E System to User Study](https://mlsanity.com/paper/2208.12639/) (2022)
- [eKalibr-Inertial: Continuous-Time Spatiotemporal Calibration for Event-Based Visual-Inertial Systems](https://mlsanity.com/paper/2509.05923/) (2025)
- [Unleashing the Power of Discrete-Time State Representation: Ultrafast Target-based IMU-Camera Spatial-Temporal Calibration](https://mlsanity.com/paper/2509.12846/) (2025)
- [SCAR: Satellite Imagery-Based Calibration for Aerial Recordings](https://mlsanity.com/paper/2602.16349/) (2026)
- [Observability Conditions and Filter Design for Visual Pose Estimation via Dual Quaternions](https://mlsanity.com/paper/2605.02054/) (2026)

## Abstract (arXiv)

The above-mentioned work [1] in IEEE-TR'08 presented an extended Kalman filter for calibrating the misalignment between a camera and an IMU. As one of the main contributions, the locally weakly observable analysis was carried out using Lie derivatives. The seminal paper [1] is undoubtedly the cornerstone of current observability work in SLAM and a number of real SLAM systems have been developed on the observability result of this paper, such as [2, 3]. However, the main observability result of this paper [1] is founded on an incorrect proof and actually cannot be acquired using the local observability technique therein, a fact that is apparently not noticed by the SLAM community over a number of years.