Wrong estimated translation IMU-Camera

[ClementLeBihan]

Hi all,

I'm trying to use IMU-Camera calibration between a UEye UI3240CP and UM7 IMU.

I did a good Intrinsic Calibration parameters with a sub-pixel reprojection RMS. I did a 12h of IMU recording to estimate bias, here are two figures from allan_variance_ros :

Unfortunately, I can't get good results with Kalibr for IMU-Camera Calibration.

Indeed, I have a level arm of 12cm between Camera and IMU but result translation is close to 0,0,0 ...

Here is the command line I use : rosrun kalibr kalibr_calibrate_imu_camera --bag rosbag_000001.bag --target aprilgrid.yaml --cam camchain.yaml --imu imu.yaml --imu-models scale-misalignment --show-extraction

And here are my yamls : camchain.yaml

cam0:
  cam_overlaps: []
  camera_model: pinhole
  distortion_coeffs: [0.29665162646592214, 0.06042783488851961, 0.5814308428904732, -0.4550030580145748]
  distortion_model: equidistant
  intrinsics: [688.9112698415202, 689.049973999756, 617.554356150484, 302.06123179300414]
  resolution: [1280, 720]
  rostopic: UEye_UI324xCPToROSBagWriter

imu.yaml

#Accelerometer
accelerometer_noise_density: 0.0201624850563659 
accelerometer_random_walk: 7.127014383713606e-04 

#Gyroscope
gyroscope_noise_density: 0.019735765077994756 
gyroscope_random_walk: 2.7485669500228047e-05 

rostopic: 'UM7SensorToROSBagWriter' #Make sure this is correct
update_rate: 87 #Make sure this is correct

I have a nice reprojection error (bellow 1px) :

But a translation between IMU and Camera that is far from the groundtruth ~12cm :

[[-0.9988536 -0.00766374 0.04725203 -0.00003048]
[ 0.00948282 -0.99921768 0.03839414 0.00005977]
[ 0.04692082 0.03879821 0.99814485 -0.00004503]
[ 0. 0. 0. 1.]]

Attached is the pdf report and here a link to the video of the rosbag I did : https://magcloud.magellium.com/owncloud/index.php/s/7761Lf3j6OxD42L I hope someone will be able to help me :)

Thank you, Clément

report-imucam.pdf

[goldbattle]

Hi, I was unable to download you bag.

[ClementLeBihan]

Hi @goldbattle, here is a link to download the bag : https://magcloud.magellium.com/owncloud/index.php/s/Kvb5T3Dr2GkNol6

Best, Clément

[CongUcas]

Hi @goldbattle, here is a link to download the bag : https://magcloud.magellium.com/owncloud/index.php/s/Kvb5T3Dr2GkNol6

Best, Clément

I also want to need your bag file since I met the same problem using my bag which was recorded in my office. I would like to compare them maybe I can find some valuable infomation. However the file fails to be downloaded.

[ericdonatyy]

I am also facing the same problem. how was this problem solved?