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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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Kalibir and Proper Acceleration from the IMU #646

Closed geoeo closed 9 months ago

geoeo commented 9 months ago

Hello,

For calibrating and I guess in general in VI state estimation. When I have IMU measurements which are in the "proper acceleration" (https://en.wikipedia.org/wiki/Accelerometer) frame, do I need to invert these measurements does Kalibir account for this?

geoeo commented 9 months ago

I think by setting the gravity to positive +9.81 the algorithm essentially works in this space