Open aegai3222 opened 1 week ago
imu_int_noise
models the IMU integration noise over time and corresponds to gtsam::PreintegrationParams::setIntegrationCovariance
.
imu_bias_noise
models the random walk of IMU bias. Setting a small value to it means assuming the IMU bias is more stably change over time.
I would like to ask what is the meaning of imu configuration in sensor configuration.
Is imu_int_noise for accelerometer_random_walk and imu_bias_noise for gyroscope_random_walk?