Ground Plane-Aided Extrinsic Calibration of Inertial and RGB-D Sensors for Uncrewed Aerial Vehicles

Ilyar Asl Sabbaghian Hokmabadi, Mahdis Bisheban

Accurate extrinsic calibration of inertial sensors, such as Inertial Measurement Units (IMUs) and cameras is crucial for trajectory estimation of Uncrewed Aerial Vehicles (UAVs). W…