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rpng / MINS

An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
GNU General Public License v3.0
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IMU Coordinate and Camera coordinate #19

Closed zvxvd closed 4 months ago

zvxvd commented 7 months ago

i want use my own dataset to test MINS system, after check the openvins project , i am really confused about the IMU coordinate and Camera coordinate , could you please just tell me what imu coordiante this system use:

what i understand:

camera: [ Z: forward X: left Y: down ]

IMU [ X：? Y: ? Z: ? ] what i need ito do is calculate the camera - imu rotation matrix.

now i don't know how to define imu coordinate .

WoosikLee2510 commented 6 months ago

So if you are not clear about IMU corridiante, I recommand following Kalibr which shares the same coordinate definition of sensor coordinate. Try running Kalibr and using it should work.