标定文件中参数含义

[QLJX]

你好，我刚接触这方面内容，所以有不少问题想要跟大佬们请教一下： 问题一，标定文件中，大多数都是简写，我是小白所以希望大佬能帮忙解释一下各个参数的含义，Imu: accel_TK，accel_bias，gyro_TK，gyro_bias， accel_noise_var， angv_noise_var，D_T_I。Camera: D_T_C_l，D_T_C_r，cameraK_l， cameraK_r，dist_coeff_l，dist_coeff_r， img_size。 问题二，imu和camera之间的坐标变换矩阵又是如何进行确定的。 问题三，我想得到imu标定参数，包括1、加速度计测量噪声标准偏差。2、陀螺仪测量噪声标准偏差。3、加速度计偏置随机工作噪声标准偏差。4、陀螺仪偏置随机工作噪声标准偏差。5、重力量级。 问题四、我使用了本产品作为slam的输入，但是出现了跑飞的情况，即使摄像机不动，仍然会飞出很远，请问这是什么原因引起的。 再次感谢各位大佬对我进行指导。

[mingyux]

A1:

Imu:
corrected_accel = accel_TK * (raw_accel - accel_bias)
corrected_gyro = gyro_TK * (raw_gyro - gyro_bias)
accel_noise_var: the noise std ^2 
angv_noise_var: the noise std ^2
D_T_I: The transformation from {I}mu to {D}evice.

Camera: 
D_T_C_l: The transformation from {C}amera_left to {D}evice.  Note that in boteye, we set {D} to {Cl}
D_T_C_r: The transformation from {C}amera_right to {D}evice.
cameraK_l: camera left intrinsics.
cameraK_r: camera right intrinsics.
dist_coeff_l: [k1, k2, p1, p2, k3, k4, k5, k6] of camera left
dist_coeff_r: [k1, k2, p1, p2, k3, k4, k5, k6] of camera left
img_size: image size of the camera output (identical for both cameras).

[mingyux]

A2: Due to the sensor manufacturing, we simply assume D_T_C is identity. Although the translation can be ~1cm off. Technically, this assumption won't make any difference. If you really care, you can do IMU-camera calibration with Kalibr. although the wrapper is not provided at this moment.

[mingyux]

A3: These imu intrinsics are measured and then heuristically tuned for the IMU we use on boteye sensor. The parameters are not exposed at this moment.

[mingyux]

A4: Make sure you set the correct -sensor_type. Even w/ a bad calibration it should not fly away when static.