Robot Calibration


Spatial

Hand-Eye Calibration

IMU-Cam Calibration

Kalibr

Kalibr is a toolbox that solves the following calibration problems:

  • Multiple camera calibration
  • Camera-IMU calibration
  • Rolling Shutter Camera calibration

My Blog: Kalibr 之 Camera-IMU 标定 (总结)

TUM Related:

InerVis Toolbox for Matlab

  • http://home.deec.uc.pt/~jlobo/InerVis_WebIndex/InerVis_Toolbox.html

IMU CAM calibration, Inertial Measurement Unit and Camera Calibration Toolbox

vicalib

Lidar-Cam Calibration

Temporal

Time Synchronization

  • chrony: is a versatile implementation of the Network Time Protocol (NTP). It can synchronise the system clock with NTP servers, reference clocks (e.g. GPS receiver), and manual input using wristwatch and keyboard. It can also operate as an NTPv4 (RFC 5905) server and peer to provide a time service to other computers in the network.
  • ROS Clock
    rosparam set use_sim_time true  # (or set in launch file if you use one)
    rosbag play <your bag> --clock
    
  • TICSync is an extremely efficient algorithm for learning the mapping between distributed clocks, which typically achieves better than millisecond accuracy within just a few seconds.
  • ethz-asl/cuckoo_time_translator
  • leggedrobotics/hardware_time_sync: Guidelines on how to hardware synchronize the time of multiple sensors, e.g., IMU, cameras, etc.



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