METHOD AND APPARATUS FOR CALIBRATING CAMERAS AND INERTIAL MEASUREMENT UNIT, AND COMPUTER DEVICE

This application relates to a method and apparatus for calibrating cameras and an inertial measurement unit (IMU), a computer device, a storage medium, and a computer program product. The method may be applied to application scenarios such as online calibration of autonomous driving, electronic maps, and sensors. The method includes: obtaining image sequences acquired by cameras (S202); matching feature points of different images in the image sequences, to obtain matching feature points (S204); filtering the matching feature points to obtain target feature points (S206); converting the target feature points into three-dimensionally distributed points, and determining poses of the cameras based on the three-dimensionally distributed points and pixels of the images in the image sequences that correspond to the three-dimensionally distributed points (S208); and optimizing calibration parameter between an IMU and the cameras according to the poses of the cameras and a pose of the IMU (S210).