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KumarRobotics / msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
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Position offset between GPS and IMU #123

Closed huanhexiao closed 2 years ago

huanhexiao commented 2 years ago

Could anyone please tell me the position offset, also known as Lever Arm, between GPS and IMU in fla dataset?

ke-sun commented 2 years ago

We don't have the calibration between GPS and IMU. It was computed with the provided the matlab script. The idea is to find the calibration such that the difference between GPS and odometry is minimized.