Wrong camera-Imu translation estimation on a ground vehicle (car) using Kalibr.

[Vmine667]

Hello, I'm calibrating a mono-camera (25fps) and IMU (100Hz) on a ground vehicle (car) using Kalibr. While my rotation matrix estimation is relatively accurate, the translation between the IMU and camera is completely erroneous like 2-3 cm instead of about 1m. What steps can I take to rectify this issue? PS : The estimation of the imu random-walk and noise was found by using allaallan_variance_ro after 6h of recording.

Command line I use : rosrun kalibr kalibr_calibrate_imu_camera --imu imu.yaml --cam cam_april_camchain --bag my.bag --target aprel_6x6.yaml

yamls : https://drive.google.com/drive/folders/1uh1k35E3g4jKGLw-5aM5bKM9wmeucVRU?usp=sharing

My Rosbag : https://drive.google.com/drive/folders/1PomVCSV-uVHh7ZrMcSuWbBDDWGQKU3WH?usp=sharing

Pdf_report : https://drive.google.com/drive/folders/1YVESCDCmkVr15Efl_F8DsGCIHDUzKvKh?usp=sharing

Thank you,

[goldbattle]

Please use the latest master code and try to regenerate. Ensure that you have full 6dof motion (i.e. you can't simply record a dataset of a vehicle moving in front of a board).

On Thu, May 11, 2023 at 7:38 AM Amine AIT ALLALA @.***> wrote:

Hello, I'm calibrating the mono-camera (25fps) and IMU (100Hz) on a ground vehicle (car) using Kalibr. While my rotation matrix estimation is relatively accurate, the translation between the IMU and camera is completely erroneous like 2-3 cm instead of about 1m. What steps can I take to rectify this issue? PS : The estimation of the imu random-walk and noise was found by using allaallan_variance_ro after 6h of recording. [image: Capture d’écran 2023-05-11 111404] https://user-images.githubusercontent.com/121683325/237636692-9593458e-8f81-460e-944e-0b8ac034e4b6.png

Command line I use : rosrun kalibr kalibr_calibrate_imu_camera --imu imu.yaml --cam cam_april_camchain --bag my.bag --target aprel_6x6.yaml

yamls : https://drive.google.com/drive/folders/1uh1k35E3g4jKGLw-5aM5bKM9wmeucVRU?usp=sharing http://url

My Rosbag : https://drive.google.com/drive/folders/1PomVCSV-uVHh7ZrMcSuWbBDDWGQKU3WH?usp=sharing http://url

Pdf_report : https://drive.google.com/drive/folders/1YVESCDCmkVr15Efl_F8DsGCIHDUzKvKh?usp=sharing http://url

Thank you,

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/kalibr/issues/612, or unsubscribe https://github.com/notifications/unsubscribe-auth/AAQ6TYVVNLI22KL2CEJWAELXFTFSFANCNFSM6AAAAAAX6AEBVA . You are receiving this because you are subscribed to this thread.Message ID: @.***>

[Vmine667]

Thank you for your quick response, since I'm trying to calibrate a ground vehicle, I can't do a rotation around y and x axis (roll and pitch). Can you suggest any alternative?

[goldbattle]

I don't have anything besides making the sensor rig removable, or somehow making the ground vehicle move more (ramp on one wheel / jack?).

On Mon, May 15, 2023 at 11:14 AM Amine AIT ALLALA @.***> wrote:

Thank you for your quick response, since I'm trying to calibrate a ground vehicle, I can't do a rotation around y and x axis (roll and pitch). Can you suggest any alternative?

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/kalibr/issues/612#issuecomment-1548058923, or unsubscribe https://github.com/notifications/unsubscribe-auth/AAQ6TYXR2XK3BGIBFH3OWMDXGJB6JANCNFSM6AAAAAAX6AEBVA . You are receiving this because you commented.Message ID: @.***>