TurniFi Extrinsics

A repeatable, accurate approach to multi-camera extrinsic calibration with or without overlapping views. The rotationally constrained turntable model reduces physical space requirements and simplifies data collection.

See how we can help you calibrate

Fiducial SLAM for Calibration

  • The Skip TurniFi solver computes the locations of all fiducials and cameras from a single dataset.
  • Fiducials can be constrained to the ground plane for a more stable estimate.
  • On-robot fiducials can be used to output calibration poses relative to CAD datum.
  • Allows estimation of robot ride height, roll, and pitch.
  • End-to-end estimation pipeline with automatic initialization and outlier rejection.

a heatmap illustrating calibration errors

Fiducials can be placed in arbitrary, unknown locations around the robot.

Flexible Frames

  • Rich modeling of fiducial constraints and coordinate frames
  • Add fiducials as needed to improve accuracy
  • Constrained estimation of turntable rotation; no encoder needed
  • Incorporate known pose relationships with fixed frame graph links.

a heatmap illustrating calibration errors

Custom frame graph configuration allows estimating camera extrinsics along with other datums on the robot.

Detailed Reporting

  • Detailed PDF report shows residual error statistics.
  • Inspect residuals for each (camera, fiducial) pair in the dataset.
  • Residual heatmap visualizations for RMSE, median, and 95-percentile.

a heatmap illustrating calibration errors

Visualization of noise levels for each (camera, fiducial) pair.