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MARSLab-UMN / MARS-VINS

MARS-VINS binary release repository
http://mars.cs.umn.edu/
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Config file IMU noise explanation #7

Open Dvad opened 6 years ago

Dvad commented 6 years ago

Hi, thanks for releasing this binary.

Could you provide a definition for the imu noise model input in the config file: IMU Noise [gyro_white-noise_sigma, gyro_bias_sigma, accel_white-noise_sigma, accel_bias_sigma]

In particular what are the units of these quantities?

Thanks

paulmrinal commented 6 years ago

gyro_white-noise_sigma [(rad/s)/sqrt(Hz)], accel_white-noise_sigma [(m/s^2)/sqrt(Hz)], gyro_bias_sigma [(rad/s) . sqrt(Hz)], accel_bias_sigma [(m/s^2) . sqrt(Hz)]

Dvad commented 6 years ago

Thanks!