ekf_cal

Extended Kalman Filter Calibration and Localization: ekf_cal is a package focused on the simulation and development of a multi-sensor online calibration kalman filter. It combines the architecture of a Multi-State Constraint Kalman Filter (MSCKF) with a multi-IMU calibration filter to provide estimates of intrinsic and extrinsic sensor calibration parameters.

For full documentation, please see below:

• Github Repository
• Documentation
• Getting Started

License

This package is Treeware. If you use it in production, then we ask that you buy the world a tree to thank us for our work. By contributing to the Treeware forest you’ll be creating employment for local families and restoring wildlife habitats.

References

@inproceedings{2023_Multi_IMU,
  title         = {Online Multi-IMU Calibration Using Visual-Inertial Odometry},
  booktitle     = {2023 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
  author        = {Jacob Hartzer and Srikanth Saripalli},
  year          = {2023},
  eprint        = {2310.12411},
  archiveprefix = {arXiv},
  primaryclass  = {cs.RO},
  doi           = {10.1109/SDF-MFI59545.2023.10361310},
  selected      = {true},
  preview       = {multi_imu.png},
  arxiv         = {2310.12411},
}

@inproceedings{2022_Multi_Cam,
  author    = {Hartzer, Jacob and Saripalli, Srikanth},
  booktitle = {2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
  title     = {Online Multi Camera-IMU Calibration},
  year      = {2022},
  pages     = {360-365},
  doi       = {10.1109/SSRR56537.2022.10018692},
  selected  = {true},
  preview   = {multi_cam_imu/setup_thumb.png},
  arxiv     = {2209.13821},
}