Code produced during the creation of my PhD thesis. It contains all of the code used in performing the experiments found in the thesis.
Briefly, this code utilizes the motion of sensors in combination with their output to calibrate a system with no initial estimates to the extrinsic parameters required. The code works for cameras, IMU and 3D lidar sensors and in addition to providing the calibration gives an estimate of the uncertainty of the values obtained. For more details refer to my thesis.
Note this code makes use of Matlab, C and Cuda, because of this it requires a computer with the appropriate compilers and an Nvidia graphics card with compute 2.0 or higher.