Camera-IMU calibration with rolling shutter camera

<p>This video illustrates the performance of the proposed rolling shutter camera-IMU calibration. A checkerboard is used to help the monocular camera recover the scale so that the relative translation can also be calibrated.</p> <p>The red pluses show the detected checkerboard corners, while the green squares show the projection using the filtered camera pose.</p> <p>As can be seen, in the case of motion blur, the detected corners may not be accurate with some drifts, while the projected corners are still close to the real corners.</p>