# ethz-asl/kalibr

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_How this analysis was created: the description and tags below were written by an AI model that read this project's README and public documentation pages; stars, license and language come straight from the GitHub API. The model does not read the source code._

5,511 stars · 1,576 forks · C++ · NOASSERTION

## Links

- GitHub: https://github.com/ethz-asl/kalibr
- awesome-repositories: https://awesome-repositories.com/repository/ethz-asl-kalibr.md

## Description

Kalibr is a software suite for multi-camera calibration and visual-inertial parameter estimation. It provides a mathematical framework for determining intrinsic and extrinsic parameters across multiple cameras and calculating the spatio-temporal offsets between cameras and inertial measurement units.

The project features a non-linear least-squares optimizer to minimize reprojection and inertial errors. It includes specialized tools for rolling-shutter camera calibration to estimate projection and distortion parameters for sensors that capture images row-by-row.

The system covers a broad range of sensor calibration primitives, including multi-camera system alignment for overlapping fields of view and the spatial and temporal alignment of multiple inertial sensors using visual aids.

The build system utilizes Colcon to automate dependency resolution, library linking, and the generation of binaries and communication types.

## Tags

### Part of an Awesome List

- [Multi-Camera Calibration Systems](https://awesome-repositories.com/f/awesome-lists/ai/pose-estimation/camera-calibration/multi-camera-calibration-systems.md) — Determines intrinsic and extrinsic parameters for multiple cameras with overlapping fields of view to create a unified coordinate system.
- [Visual-Inertial Calibrations](https://awesome-repositories.com/f/awesome-lists/devtools/sensor-calibration/visual-inertial-calibrations.md) — Provides a comprehensive toolbox for computing the spatial and temporal offsets between cameras and inertial measurement units. ([source](https://github.com/ethz-asl/kalibr#readme))
- [Rolling Shutter Estimation](https://awesome-repositories.com/f/awesome-lists/ai/pose-estimation/camera-calibration/rolling-shutter-estimation.md) — Estimates projection, distortion, and shutter parameters to correct image skew caused by rolling shutter capture. ([source](https://github.com/ethz-asl/kalibr#readme))
- [Inertial Sensor Alignments](https://awesome-repositories.com/f/awesome-lists/devtools/sensor-calibration/inertial-sensor-alignments.md) — Provides tools for determining the spatial and temporal relationships between multiple inertial measurement units using visual aids.
- [Calibration Software](https://awesome-repositories.com/f/awesome-lists/ai/calibration-software.md) — Toolbox for multi-camera and visual-inertial calibration.
- [Calibration and Transformation](https://awesome-repositories.com/f/awesome-lists/devtools/calibration-and-transformation.md) — Toolbox for visual-inertial sensor calibration.
- [Sensor Calibration](https://awesome-repositories.com/f/awesome-lists/devtools/sensor-calibration.md) — Calibration toolbox for camera-IMU and camera-LiDAR sensor systems.

### Scientific & Mathematical Computing

- [Non-Linear Optimizers](https://awesome-repositories.com/f/scientific-mathematical-computing/non-linear-optimizers.md) — Uses a non-linear least-squares optimizer to minimize reprojection and inertial errors for precise sensor alignment.
- [Spatio-Temporal Parameter Estimators](https://awesome-repositories.com/f/scientific-mathematical-computing/spatio-temporal-parameter-estimators.md) — Computes the six-degree-of-freedom transform and time offset to align independent sensor data streams into one coordinate frame.

### Graphics & Multimedia

- [Rolling Shutter Correction](https://awesome-repositories.com/f/graphics-multimedia/rolling-shutter-correction.md) — Corrects image skew caused by sequential sensor readout during fast movement through projection and shutter parameter estimation.