I have tried to calibrate the delay of image, the residual can reach local minimum at a certain value (about -0.2). Is it seems right?
And After I shift image timestamps with the delay, the result get better.(Before apply the delay, the result get diverged immediately.)
But the movements of the phone become smaller as time goes by. After a period of time, the results of phone poses later nearly have no translation but have correct rotation, as it can be seen in figure above.
I wonder if it is caused by incorrect imu noise parameters, because I just use the same parameters as iphone. But I don't know how to calibrate imu parameters for mobile phones, could you please tell me how do you calibrate iphone?
I have tried to calibrate the delay of image, the residual can reach local minimum at a certain value (about -0.2). Is it seems right?
And After I shift image timestamps with the delay, the result get better.(Before apply the delay, the result get diverged immediately.)
But the movements of the phone become smaller as time goes by. After a period of time, the results of phone poses later nearly have no translation but have correct rotation, as it can be seen in figure above.
I wonder if it is caused by incorrect imu noise parameters, because I just use the same parameters as iphone. But I don't know how to calibrate imu parameters for mobile phones, could you please tell me how do you calibrate iphone?