Show and Share Your Amazing Sensor Kit!

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🎉 You are encouraged to upload photos of your sensor suite and its calibration screenshots from iKalibr (after iKalibr calibration is complete, focus the mouse on the iKalibr viewer and press CTRL+S to save the screenshot). If possible, you are welcome to write a short story sharing the ups and downs between you and your sensor kit 😃.

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This is a sensor suite built in June 2024 to verify the feasibility and calibration performance of iKalibr. The platform integrates two FLIR cameras, a Velodyne VLP-32C LiDAR, a Livox Avia LiDAR, two TI-AWR1843 3D Radars, a MTI-G-710 MEMS IMU, and a Livox Avia built-in MEMS IMU. Due to technical limitations, the sensors in the sensor suite do not achieve hardware synchronization 🙃. Fortunately, iKalibr can calibrate the time offsets between sensors.

Our biggest problem at the time was the acquisition of images from the two cameras. Perhaps due to the large bandwidth, image acquisition was easily interrupted. We have to admit that this is due to our lack of experience (it seems that there is still a lot to learn 🥲). In comparison, the acquisition of data from other sensors was very smooth.

Self-Built Sensor Kit	Calibration Result Using iKalibr

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Due to a shortage of laboratory resources, the individual sensors in the sensor suite have been dismantled and separated 😯.

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This sensor suite is from VECtor Benchmark. It is centered around an event-based stereo camera, and further contains a regular stereo camera, an RGB-D sensor in the center, a LiDAR mounted on the top, and an IMU at the rear. The holder can be mounted on various platforms: (1) a simple handle for hand-held sequences, (2) a wheeled tripod, and (3) a helmet.

Due to the limited open-source motion data available for iKalibr to solve, we only tested and calibrated the IMU and two optical cameras 🕐.

VECtor Sensor Kit	Calibration Result Using iKalibr

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This sensor suite is from LI-Calib. The self-assembled sensor rig integrates three Xsens-100 IMUs (denoted as IMU-0, IMU-1, and IMU-2) sampled at 400 Hz and a Velodyne VLP-16 LiDAR sampled at 10 Hz. Sensors except the LiDAR are hardware-synchronized.

LI-Calib Sensor Kit	Calibration Result Using iKalibr

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This sensor suite is from TUM GS-RS Dataset. The self-assembled sensor rig integrates two uEye UI-3241LE-M-GL cameras (denoted as Cam-0 and Cam-1) sampled at 20 Hz and a Bosch BMI160 IMU sampled at 200 Hz. The Cam-0 runs in GS mode and the Cam-1 in RS mode. Sensors are hardware-synchronized.

TUM GS-RS Sensor Kit	Calibration Result Using iKalibr

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This sensor suite is from River. The self-assembled sensor rig integrates two AWR1843BOOST 3D radars (denoted as Rad-0 and Rad-1) sampled at 10 Hz, a Velodyne VLP-32 LiDAR sampled at 10 Hz, a GS camera, and an XSens MTI-G-710 MESE IMU sampled at 400 Hz. Sensors are only software-synchronized.

River Sensor Kit	Calibration Result Using iKalibr