iKalibr-RGBD: Partially-Specialized Target-Free Visual-Inertial Spatiotemporal Calibration For RGBDs via Continuous-Time Velocity Estimation

Shuolong Chen, Xingxing Li, Shengyu Li +1

Visual-inertial systems have been widely studied and applied in the last two decades (from the early 2000s to the present), mainly due to their low cost and power consumption, smal…