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Patrick Geneva edited this page Aug 12, 2024 · 8 revisions

Sample datasets

Bag File Configs Description
Multi-CAM april_6x6.yaml Sample calibration bag from the EuRoC MAV dataset and configurations for the multiple-camera calibrator
IMU-CAM imu_adis16448.yaml
cam_april-camchain.yaml
Sample calibration bag from the EuRoC MAV dataset and configurations for the imu-camera calibrator
Multi-IMU april_6x6_80x80cm.yaml
camchain-static_02.yaml
imu_adis16448.yaml
imu_mti100.yaml
imu_mtig710.yaml
Three IMU and stereo camera recording. Can be used to test the multi-IMU calibration ability. A picture of the rig can be found in this paper for those interested.
Rolling Shutter april_6x6_80x80cm.yaml Recording of a ELP-960P2CAM-V90-VC USB 2.0 rolling shutter stereo pair recorded using this ROS package. There is no IMU data.

A folder with all calibration files and scripts can be found here.

Calibration targets

Name Target Config
Aprilgrid 6x6 0.8x0.8 m (A0 page) pdf yaml
Aprilgrid 6x6 & Checkerboard 7x6 0.5x0.5 m (A0 page) pdf checker-yaml
april-yaml
Aprilgrid 6x6 0.8x0.8 m (unscaled) pdf yaml
Aprilgrid 6x6 0.5x0.5 m (unscaled) pdf yaml
Checkerboard 7x6 0.5x0.5 m (unscaled) pdf yaml

Kalibr provides a script to generate custom targets.

IMU configurations

Name Description
ADIS 16448 IMU configuration for the Analog Devices ADIS16448 IMU

How to recover IMU noise parameters is covered by the inertial noise model page.