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##Introduction Kalibr is a toolbox that solves the following calibration problems:

1. intrinsic and extrinsic calibration of a camera-systems with non-globally shared overlapping fields of view
2. spatial and temporal parameters of an IMU w.r.t a camera-system

To make the calibration task more convenient and reproducible the following tools are provided:

1. tool to set the camera focus in a reproducible way
2. validation of the camera-system calibration on live ROS image streams

The calibration approaches used in Kalibr primarily bases on the following papers:

1. Paul Furgale, Joern Rehder, Roland Siegwart (2013). Unified Temporal and Spatial Calibration for Multi-Sensor Systems. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan.
2. Paul Furgale, T D Barfoot, G Sibley (2012). Continuous-Time Batch Estimation Using Temporal Basis Functions. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2088–2095, St. Paul, MN.
3. J. Maye, P. Furgale, R. Siegwart (2013). Self-supervised Calibration for Robotic Systems, In Proc. of the IEEE Intelligent Vehicles Symposium (IVS)

##Authors

• Paul Furgale (email)
• Jérôme Maye (email)
• Jörn Rehder (email)
• Thomas Schneider (email)

##License (BSD) Copyright (c) 2014, Paul Furgale, Jérôme Maye and Jörn Rehder, Autonomous Systems Lab, ETH Zurich, Switzerland
Copyright (c) 2014, Thomas Schneider, Skybotix AG, Switzerland
All rights reserved.

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