传感器标定系列——Kalibr工具

Kalibr介绍

Kalibr is a toolbox that solves the following calibration problems:

• 多相机标定 (Multi-Camera Calibration): Intrinsic and extrinsic calibration of a camera-systems with non-globally shared overlapping fields of view with support for a wide range of camera models.
• 相机-IMU联合标定(Visual-Inertial Calibration (CAM-IMU)): Spatial and temporal calibration of an IMU w.r.t a camera-system along with IMU intrinsic parameters
• 多IMU标定 (Multi-Inertial Calibration (IMU-IMU)): Spatial and temporal calibration of an IMU w.r.t a base inertial sensor along with IMU intrinsic parameters (requires 1-aiding camera sensor).
• 卷帘快门相机标定 (Rolling Shutter Camera Calibration): Full intrinsic calibration (projection, distortion and shutter parameters) of rolling shutter cameras.

安装

https://github.com/ethz-asl/kalibr/wiki/installation

资源

• https://github.com/ethz-asl/kalibr
• https://charon-cheung.github.io/2020/06/30/%E8%A7%86%E8%A7%89SLAM/%E6%A0%87%E5%AE%9AD435i%E7%9A%84%E7%9B%B8%E6%9C%BA(%E4%BA%8C)/#%E5%AE%89%E8%A3%85Kalibr

不足

• 只支持平面chart，不支持多板：对于大FOV 的多摄系统，就算是超大的单板也难以覆盖全部FOV，这样的场景下难以应用；
• 不支持自定义chart，比如同心圆，随机大小圆(编码)等