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Field-Robotics-Japan / UnitySensors

ROS/ROS2 enabled Sensor models (Assets) on Unity
Apache License 2.0
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IMU Noise model #74

Open RyodoTanaka opened 10 months ago

RyodoTanaka commented 10 months ago

We do not set any noise model for IMU. The usual IMU they have several noise model. I think following noise model is needed mainly.

  1. Gussian Noise
  2. Draft Noise This noise could be represented by using time scale.
  3. Temperature Noise

If anyone have any other idea, it is very welcome to write them on here.

qoopen0815 commented 8 months ago

I'm interested in implementing the proposed noise model, but I'm a little unsure where to stick it in my code. Could you please throw a hint as to which part of the codebase is needed?

Autumn60 commented 8 months ago

@qoopen0815

Thank you for your interest. Currently, codes for the noise model are located in the following directory

https://github.com/Field-Robotics-Japan/UnitySensors/tree/master/Assets/UnitySensors/Runtime/Scripts/Utils/Noise

Also, the namespace would be UnitySensors.Utils.Noise.

qoopen0815 commented 8 months ago

@Autumn60 Thanks, I found the code!

Quick question: Any reason the noise model, which seems ready to roll, hasn't been integrated into the IMU yet? Is there a specific reason or is the implementation approach still up in the air?

Autumn60 commented 8 months ago

That's because the implemention approach was not set in stone.

I would like to have a framework that allows us to combine multiple noise models in the future. (e.g., Gaussian noise + drift noise, Gaussian noise + temperature noise, etc.) Given this, I believe it is necessary to have a common interface for all noise model classes, like PointCloud data.

Autumn60 commented 7 months ago

https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model

RyodoTanaka commented 7 months ago

@Autumn60 The ethz-asl's link you've found looks very interesting ! It seems we also could be possible to implement the noise model 😎