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Calibrate camera to IMU

11 vues (au cours des 30 derniers jours)
Itai Kadosh
Itai Kadosh le 4 Mar 2021
Modifié(e) : Akshai Manchana le 20 Mai 2024 à 8:11
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?

Réponses (2)

Nagasai Bharat
Nagasai Bharat le 8 Mar 2021
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.

Akshai Manchana
Akshai Manchana le 20 Mai 2024 à 8:11
Modifié(e) : Akshai Manchana le 20 Mai 2024 à 8:11
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


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