icalib.github.io

Inertial Aided Multi-Sensor Calibration

Description

To calibration the spatial-temporal parameters for multiple sensors, including IMU, cameras, LiDAR and wheel encoder.

Sensors

Tested Sensors

• IMU: microstrain IMU, xsens IMU, realsense-t265 IMU / Gyro
• Cameras: FLIR Blackfly/pointgrey, t265 stereo-fisheye
• LiDAR: Velodyne VLP-16
• Wheel encoder: Jackal wheel encoder

Sensors going to support

• Ouster Lidar
• Accelerometer
• GPS / GNSS

Requirements

• At least 1 IMU and 1 Camera (as the base IMU and base camera)
• QR tags: Aruco Tag (supported) and April Tag (testing)
• For LiDAR calibration: structural environment with planes
• Motion: 3D motion with at least 2-axis rotation
• 2 - 4 Tag planes (each plane with 6-9 tags) as shown in the following fig

Example setup:

The Jackal is equipped with: microstrain gx3-25, FLIR pointgrey, Realsense T265. The Jackcal contains wheel encoder. From each sensor, the meassages needed are:

• Microstrain IMU: /imu_ms/data, sensor_msgs/Imu
• FLIR pointgrey: /camera_pg/image_raw, sensor_msgs/Image
• Realsense T265 Stereo: /camera/fisheye1/image_raw, /camera/fisheye2/image_raw, sensor_msgs/Image
• Realsense T265 gyro: /camera/gyro/sample, sensor_msgs/Imu
• Velodyne: /velodyne_packets, velodyne_msgs/VelodyneScan (important)
• Jackal wheel encoder: /joint_states, sensor_msgs/JoinState

Supporting materials

• For iCalib workshop paper.
• For iCalib workshop slides.
• For iCalib workshop video.

Dependencies

• OpenVINS - https://docs.openvins.com/gs-installing.html
• ROS Kinetic or Melodic - https://www.ros.org/
• OpenCV 3 or 4 - https://github.com/opencv/opencv
• libpointmatcher (our code with custom covariance) - https://github.com/rpng/libpointmatcher
  • clone into ros workspace
  • git clone https://github.com/ethz-asl/libnabo
  • git clone https://github.com/rpng/libpointmatcher
• Velodyne Drivers - https://github.com/ros-drivers/velodyne
  • Get here: https://github.com/ros-drivers/velodyne
  • Or: sudo apt-get install ros-melodic-velodyne-msgs
• To get MKL and TBB can follow this link).

wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS-2019.PUB
sudo apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS-2019.PUB
rm GPG-PUB-KEY-INTEL-SW-PRODUCTS-2019.PUB
sudo sh -c 'echo deb https://apt.repos.intel.com/mkl all main > /etc/apt/sources.list.d/intel-mkl.list'
sudo sh -c 'echo deb https://apt.repos.intel.com/tbb all main > /etc/apt/sources.list.d/intel-tbb.list'
sudo apt-get update
sudo apt-get install intel-tbb-2020.0-088
sudo apt-get install intel-mkl-2020.0-088

LZ4 error solution: https://github.com/ethz-asl/lidar_align/issues/16#issuecomment-504348488

Eigne error can be solved by turning off the march=native. Which reference is here.