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KALIBR
Visual-inertial camera and IMU calibration toolbox
BSD-3-Clause
ABOUT
Visual-inertial odometry fails when camera intrinsics, IMU noise, and camera-IMU extrinsics are wrong. Kalibr calibrates multi-camera and camera-IMU rigs from target sequences so SLAM and VIO stacks start from accurate geometry instead of guessed transforms.
INTEGRATION GUIDE
1. Calibrate camera intrinsics and distortion from a checkerboard sequence
2. Estimate camera-IMU extrinsics and time offset for a VIO rig
3. Calibrate a multi-camera stereo or surround rig before mapping
4. Validate IMU noise and scale parameters used in visual-inertial fusion
TAGS
pythonroboticscalibrationcameraimuvioslamethz