Calibrate camera to IMU

Hi all,

I would like to calculate the Extrinsic transformation matrix (rotation and translation) between camera and IMU that I have on the same board. The matrix should be 4x4 dimensions (please see image attached).

I saw that is common to use Kalibr software to this but I would like to implement this in Matlab.

Can anyone help me with this issue? Is there a code that does something like this?

Thanks,

Itai

Answer 1

[Nagasai Bharat]

Hi,

The extrinsics documentation should help to calculate the matrix. The data from the IMU and camera can be taken as arguments to the extrinsics function.

Answer 2

[Akshai Manchana]

Hi Itai,

A utility function estimateCameraIMUTransform is supported from 24a release in Navigation Toolbox for estimating the extrinsic between camera-IMU.

The calibration process is documented in Camera-IMU Extrinsic Calibration Example.

Thanks & Regards

Akshai Manchana