Multi-Visual-Inertial Sensor Calibration

Open MVIS is designed for multi-visual-inertial sensor calibration.

Visula-Inertial (VI)-Rig (4 IMUs and 5 Cameras): MicroStrain GX3-25 MicroStrain GX3-35 Xsens MTI-100 RealSense T265 IMU FLIR BlackFly RealSense T265 Left&Right Cameras ELP Left&Right Rolling Shutter Cameras

Main Features

This is designed to support the spatial-temporal and intrinsic calibration for multiple IMUs, Gyros, cameras. The main features of this repository are as following:

• IMU intrinsic calibration (with kalibr and RPNG model)

• Gyroscope intrinsic calibration (with Kalibr and RPNG model)

• Camera intrinsic calibration refinement (with rad-tan/equi-dist model)

• IMU-IMU spatial-temporal calibration (rotation, translation and timeoffset)

• IMU-Gyro spatial-temporal calibration (rotation and timeoffset)

• IMU-Cam spatial-temporal calibration (rotation, translation and timeoffset)

• Rolling shutter readout time calibration (with first/middle/last row as image timestamp)

• Evaluation scripts for calibration results

• Open-sourced MVIS datasets

• Support both Kalibr April Board and AuRco tags