Kalibr

ETH Zurich's open-source calibration toolbox specializing in multi-camera and camera-IMU intrinsic, extrinsic, and time calibration.

Kalibr is an open-source sensor-calibration toolbox from ETH Zurich's Autonomous Systems Lab (ASL), running on ROS. It can calibrate intrinsics and extrinsics across multiple cameras, the spatial extrinsics and time offset between a camera and an IMU, multiple IMUs together, and rolling-shutter cameras, commonly using an AprilGrid (a grid made of AprilTag markers) as the calibration target. Algorithms like visual-inertial odometry and SLAM need to know the relative pose and timing offset between the camera and IMU precisely — get those parameters wrong and drift follows directly — which makes Kalibr one of the most commonly used tools for this job.

ExampleHold a RealSense D435i with an IMU in front of an AprilGrid and wave it around while recording a rosbag, then run kalibr_calibrate_imu_camera to get the camera-to-IMU transform and their time offset, which then get plugged into VINS-Fusion's configuration.

Also called

ethz-asl/kalibr

Related

Camera-IMU Calibration · Camera Calibration · AprilTag · Visual-Inertial Odometry · Camera Extrinsics · VINS-Mono / VINS-Fusion

Sources

ethz-asl/kalibr (GitHub)