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

arXiv:2606.31019v1 Announce Type: new Abstract: Accurate extrinsic calibration of inertial sensors, such as Inertial Measurement Units (IMUs) and cameras is crucial for trajectory estimation of Uncrewed Aerial Vehicles (UAVs). While numerous calibration methods have been proposed, these techniques often rely on specialized equipment, planar targets, and an initial estimate of the calibration parameters. In this research, we propose a targetless calibration method designed for UAVs equipped with ...