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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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what is the purpose of imu noise density bias random walk for ? #440

Closed Ashing00 closed 2 years ago

Ashing00 commented 3 years ago

Hi,

may I know what is the purpose of imu noise density bias random walk for ? and this configuration ( imu.yaml) be used once or everytime I need to re-create it for different camera?

for Camera-IMU calibration ,do we need to do IMU calibration ready firstly,right?

georgidimitrovx commented 3 years ago

Noise density and ARW (Angular Random Walk) are used to calibrate the IMU. The values can be used every time if you had already calibrated them for a long enough time, say two hours.

You can check https://github.com/gaowenliang/imu_utils as it gives you these needed params in order to use kalibr. Here is a nice guide for MPU6050 https://automaticaddison.com/visualize-imu-data-using-the-mpu6050-ros-and-jetson-nano/

Ashing00 commented 3 years ago

hi gotiobg got it ,thank you

georgidimitrovx commented 3 years ago

You're welcome. If you don't need further help, you can close the issue.