3 Major Ways of Using MVIS

The MVIS can be used in 3 major ways.

• Refinement of Kalibr Results.

• Full calibration of multi-visual-inertial sensors.

• Partial calibration of multi-visual-inertial sensors.

Full Multi-Visual-Inertial Sensor Calibration

The major calibration procedures can be summarized as:

• Create calibration target

• Collect data with ROS

• Setup sensor topic

• Initialize IMU/CAM intrinsics

• Initialize spatial–temporal calibration

• Sensor setup

• Estimator setup

• Calibration

• Refinement