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Calibrate camera to IMU

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Itai Kadosh
Itai Kadosh 2021-3-4
编辑： Akshai Manchana 2024-5-20
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

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回答（2 个）

Nagasai Bharat
Nagasai Bharat 2021-3-8
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.
Akshai Manchana
Akshai Manchana 2024-5-20
编辑：Akshai Manchana 2024-5-20
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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