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vectr-ucla / direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
MIT License
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How to find the scale misalignment matrix for the IMU #62

Open hatem-darweesh opened 4 days ago

hatem-darweesh commented 4 days ago

In the configuration file: https://github.com/vectr-ucla/direct_lidar_inertial_odometry/blob/master/cfg/dlio.yaml

We can use the bias for both accelerometer and gyro. they are calculated using the allan variance.

There is another matrix (sm) scale misalignment. I can't figure out where this come from.

Regards,