Camera-IMU calibration with rolling shutter camera

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.

The red pluses show the detected checkerboard corners, while the green squares show the projection using the filtered camera pose.

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.