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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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how to use imu-calibr.yaml to calibrate imu instrinsic #436

Closed arenas7307979 closed 2 years ago

arenas7307979 commented 3 years ago

hii, Thank your for sharing this great tool, I have a question about scale-misalignment.

I ready know IMU intrinsic have Misalignment, scale, Bias from imu_tk [ https://github.com/Neil-Oyoung/imu_tk]

How to use kalibr internal parameters to calibrate the IMU instinsic like imu_tk？

image

mhyoosefian commented 2 years ago

Hi,

See this comment.

Regards, Mohammad

goldbattle commented 2 years ago

This paper has details of the different models: https://timohinzmann.com/publications/icra_2016_rehder.pdf

For example you can see the following: image