About this document
Online IMU Intrinsic Calibration Analysis by santoimam112 is a document available to read on EtoBox.
This document summarizes a paper presented at the Robotics: Science and Systems 2020 conference. The paper addresses the problem of online visual-inertial self-calibration and focuses on whether online calibration of IMU intrinsics is necessary. It performs observability analysis of four IMU models under different motions and identifies six primitive degenerate motions that make IMU intrinsics unobservable. Extensive simulations and real-world experiments are used to validate the analyses.
- Author
- santoimam112
- Language
- EN