Learning Trajectories for Visual-Inertial System Calibration via Model-based Heuristic Deep Reinforcement Learning

Le Chen, Yunke Ao, Florian Tschopp, Andrei Cramariuc, Michel Breyer, Jen Jen Chung, Roland Siegwart, César Cadena

Abstract: Visual-inertial systems rely on precise calibrations of both camera intrinsics and inter-sensor extrinsics, which typically require manually performing complex motions in front of a calibration tar...