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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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Is IMU required for stereo calibration? #366

Closed jaypatravali closed 4 years ago

jaypatravali commented 4 years ago

Hi. I recently got two FLIR blackfly cameras for setuping a stereo rig. I have setup Kalibr and tried out their static bag file. Now I am doing the same with my camera streams, Is the IMU readings required for calibration?

floriantschopp commented 4 years ago

No, for the camera intrinsics and camera-camera extrinsics calibration (e.g. kalibr_calibrate_cameras), IMU readings are not required given that the field of views of the cameras have enough overlap. If not, the extrinsics are not observable which then might be solved by calibrating both cameras wrt the IMU.