Camera IMU Calibration

An accurate camera-IMU calibration is very important for performance of monocular VIO. This page outlines our process for using XIVO with a brand-new sensor.

Instructions for Calibration

1. IMU Noise and Drift Characterization

2. IMU Intrinsics Calibration

XIVO uses the scale-misalignment model given in Tedaldi et al. and implemented in imu_tk, which is distributed with XIVO.

3. Camera Intrinsics Calibration

4. Camera-IMU Extrinsics Calibration

General Tips

How do you know your calibration is good?

What is "sufficiently exciting"?