OmniVIL-Calib: Target-Free Joint Calibration for Omnidirectional Camera, IMU, and LiDAR
Published in IEEE Robotics and Automation Letters, 2026
This paper presents OmniVIL-Calib, a target-free, mapping-free framework for joint spatiotemporal calibration of omnidirectional camera, IMU, and LiDAR systems.
Key Features:
- Target-free: Calibrate without checkerboards or specific targets.
- Mapping-free: No prior 3D maps or SfM subgraphs required.
- Continuous-time Optimization: Based on B-spline for asynchronous sensor fusion.
- Omni-specific: Specialized motion-flow model for FOV > 180°.
Code: GitHub (Code and OmniVIL dataset are being organized and will be released soon!)
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Recommended citation: Yihan Tu, Ruidong Mei, Hui Cheng, "OmniVIL-Calib: Target-Free Joint Calibration for Omnidirectional Camera, IMU, and LiDAR," IEEE Robotics and Automation Letters, vol. 11, no. 4, pp. 4187-4194, April 2026.
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