Whether the noise and random walk of the imu in imu.yaml are continuous or discrete?

uzh-rpg / uzh_fpv_open

Repo to accompany the UZH FPV dataset

GNU General Public License v3.0

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Closed pjzultimate closed 2 months ago

pjzultimate commented 6 months ago

Looking forward to your reply,thanks.

gcioffi commented 2 months ago

Hi, the noise and random walk are continuous. See here https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model for details on the IMU model used.