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visibilitydataset / visibilitydataset.github.io

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OS1-64 IMU Parameters #6

Closed jonathansel closed 11 months ago

jonathansel commented 11 months ago

Hello,

Thank you for the great work.

I was wondering if you could share the IMU configuration for the InvenSense ICM-20948 (Built-in OS1-64 IMU) used in driving sequences. Perhaps this was used in the estimation of the extrinsics?

i.e.

#Accelerometers
accelerometer_noise_density: 1.86e-03   #Noise density (continuous-time)
accelerometer_random_walk:   4.33e-04   #Bias random walk

#Gyroscopes
gyroscope_noise_density:     1.87e-04   #Noise density (continuous-time)
gyroscope_random_walk:       2.66e-05   #Bias random walk

rostopic:                    /imu0      #the IMU ROS topic
update_rate:                 200.0      #Hz (for discretization of the values above)
alexjunholee commented 11 months ago

Hi!

Thanks for paying attention to our dataset.

It's been quite a long after this study, so I am not very sure of the specific parameter. However, you can find the parameters from the spec sheet of the sensor ICM-20948.

Reading from the spec sheet shows as follows: accelerometer_noise_density: 2.3e-04 (230 ug) accelerometer_random_walk: 2.5e-02 (25 mg)

gyroscope_noise_density: 1.5e-02 (0.015 dps/√Hz) gyroscope_random_walk: 5e-00 (5 dps)

The value from the spec sheet seems to have quite a different tendency to the elaborative IMUs, so you can use your own calibration by IMU instrinsic calibration tools instead.

Thanks!

jonathansel commented 11 months ago

Thank you for the information and helpful resources!