simu-expr.md

RIs-Calib: Multi-Radar Multi-IMU Spatiotemporal Calibrator

3.1 Simulation Test

We provide four simulation experiments, the corresponding data are in the 'ris_calib/output' folder:

• 'simu1' and 'simu2': one IMU and one radar.
• 'simu3' and 'simu4' three IMUs and three radars.
• Two scenes are simulated (eight-shape wave motion (left) and random motion (right)):

To perform calibration for dataset 'simu1' or 'simu2', you should change field 'config_path' in 'ris_calib/launch/ris-calib-prog.launch' to:

$(find ris_calib)/config/config-simu12.yaml

The file 'config-simu12.yaml' is a configure file for 'RIs-Calib', which could be found in folder '/ris_calib/config'. The detail configure information could determined be by yourself. Then, we launch 'RIs-Calib' (before launch RIs-Calib, remember change the path or directory in the yaml-format configure file!):

roslaunch ris_calib ris-calib-prog.launch

The calibration results (left: splines for simu1, middle: splines for simu2, right: sensor suite):

For simu3 and simu4, you should change field 'config_path' in 'ris_calib/launch/ris-calib-prog.launch' to:

$(find ris_calib)/config/config-simu34.yaml

Then, we launch 'RIs-Calib' (before launch RIs-Calib, remember change the path or directory in the yaml-format configure file!):

roslaunch ris_calib ris-calib-prog.launch

The calibration results (left: splines for simu3, middle: splines for simu4, right: sensor suite):

You could use scripts in 'ris_calib/scripts' to draw figures:

Distributions of IMU factors (accelerometer factor & gyroscope factor) in batch optimizations

Convergence performance of spatiotemporal parameters for IMUs

Convergence performance of spatiotemporal parameters for Radars

Normal equations built during one iteration

Control points from rotation and velocity B-splines

All spatiotemporal parameters

Rotation and velocity B-splines (left: simu3, right: simu4)