multi-cam-imu-cal

This is a package for calibrating an IMU and multiple camera sensors using a Kalman Filter-based approach.

Dependencies

Application Dependencies:

• Eigen3
• ROS

Development Dependencies:

• clang-format
• doxygen
• plantuml
• gcov and gcovr

References

1. J. Hartzer and S. Saripalli, "Online Multi Camera-IMU Calibration", IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2022
2. F. M. Mirzaei and S. I. Roumeliotis, "A Kalman filter-based algorithm for IMU-camera calibration", 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, pp. 2427-2434, doi: 10.1109/IROS.2007.4399342.