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:
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@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},
}