Downloads

Sample datasets

Bag File	Configs	Description
Multi-CAM	april_6x6.yaml	Sample calibration bag from the EuRoC MAV dataset and configurations for the multiple-camera calibrator
IMU-CAM	imu_adis16448.yaml cam_april-camchain.yaml	Sample calibration bag from the EuRoC MAV dataset and configurations for the imu-camera calibrator
Multi-IMU	april_6x6_80x80cm.yaml camchain-static_02.yaml imu_adis16448.yaml imu_mti100.yaml imu_mtig710.yaml	Three IMU and stereo camera recording. Can be used to test the multi-IMU calibration ability. A picture of the rig can be found in this paper for those interested.
Rolling Shutter	april_6x6_80x80cm.yaml	Recording of a ELP-960P2CAM-V90-VC USB 2.0 rolling shutter stereo pair recorded using this ROS package. There is no IMU data.

A folder with all calibration files and scripts can be found here.

Calibration targets

Name	Target	Config
Aprilgrid 6x6 0.8x0.8 m (A0 page)	pdf	yaml
Aprilgrid 6x6 & Checkerboard 7x6 0.5x0.5 m (A0 page)	pdf	checker-yaml april-yaml
Aprilgrid 6x6 0.8x0.8 m (unscaled)	pdf	yaml
Aprilgrid 6x6 0.5x0.5 m (unscaled)	pdf	yaml
Checkerboard 7x6 0.5x0.5 m (unscaled)	pdf	yaml

Kalibr provides a script to generate custom targets.

IMU configurations

Name	Description
ADIS 16448	IMU configuration for the Analog Devices ADIS16448 IMU

How to recover IMU noise parameters is covered by the inertial noise model page.