IPM calibration
lxy-mini opened this issue · 2 comments
Hello, how do you achieve calibration of your sensor? In other words, how do you get the accurate initial cg_alpha and cg_theta? I have seen some IPMs that implement IPM projection through the homography matrix of four vertices on the image.
Yes, homography-based calibration is a reliable implementation, while it needs some known landmarks on the ground.
There are also some targetless methods for the calibration, like "Online Camera-to-ground Calibration for Autonomous Driving" and "Ground-VIO". However, both of the two methods are not open-sourced, while they might provide some inspiration for you.
Actually, I'm planning to make a simple script to calibrate the camera-ground geometric parameters based on GT poses and ground feature tracking, as long as I get some free time.
Okay, waiting for your good news