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nutonomy / nuscenes-devkit

The devkit of the nuScenes dataset.
https://www.nuScenes.org
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Is IMU noise available in Nuscenes? #979

Closed GeJintian closed 1 year ago

GeJintian commented 1 year ago

Hello, I wonder if we could obtain noise information of IMU from Nuscenes? Like other datasets (TUM vi, for example): "# Inflated values (to account for unmodelled effects) # Those values work well with Kalibr cam-imu calibration. # - white noise multiplied by 2 # - bias random walk multiplied by 10 accelerometer_noise_density: 0.0028 # m/s^1.5 accelerometer_random_walk: 0.00086 # m/s^2.5 gyroscope_noise_density: 0.00016 # rad/s^0.5 gyroscope_random_walk: 0.000022 # rad/s^1.5" This could be useful for IMU pre-integration. Is there any way we can obtain these data in Nuscenes? Thank you very much.

whyekit-motional commented 1 year ago

@GeJintian perhaps the manual for Advanced Navigation Spatial will have what you need

GeJintian commented 1 year ago

@whyekit-motional Thank you very much for your reply. But I can't find any document or API for Advanced Navigation Spatial on the official website or this repo. Would you might provide a link to the manual?

whyekit-motional commented 1 year ago

@GeJintian the official website of Advanced Navigation might have what you need: https://www.advancednavigation.com/inertial-navigation-systems/mems-gnss-ins/spatial/#Documentation

GeJintian commented 1 year ago

@whyekit-motional Great, I will check it. Thank you so much.