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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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Tw, Tg, Ta, R_IMUtoGYRO，Fail to appear #24

Closed wuchong112 closed 4 months ago

wuchong112 commented 5 months ago

There is a transformation matrix T for the angular velocity and acceleration in the imu parameters, in openvins. But in mins this parameter is not in the yaml file, don't you need to worry about that?

WoosikLee2510 commented 4 months ago

MINS does not support the IMU intrinsic calibration. As long as the IMU has reasonable performance, it should work with MINS.