Camera-IMU calibration with Kalibr and imu_utils
This post describes the calibration process for IMU and camera using Kalibr and Docker. The sensors used are an MPU6050 IMU and an Astra Pro Plus camera. The project structure is as follow: project_root/ ├── 3rdparty/ # Cloned source code ├── Docker/ # Dockerfile ├── target/ ├── april_6x6_80x80cm.yaml └── april_6x6_80x80cm_A0.pdf ├── data/ # Rosbags ├── imu_only.bag ├── camera_imu_calib.bag └── camera_only_4fps.bag # Downsampling from camera_imu_calib.bag ├── output/ # Results ├── imu ├── cam └── cam_imu Preparation Date preparation AprilTag patterns can be downloaded from here. ...