Should i calibrate imu offset to base_link?
Recently, i am trying to use imu. I have seen some excellent algorithms which aim to resolve calibration of imu and calculate the orientation of imu. But i still have one question that if i install an imu chip on robot, it should have a relative offset and orientation to base_link frame. Where can i get this offset? Through directly measurement (which i think would be inaccurate) or through some other calibration method?
Asked by huchaohong on 2019-06-10 21:19:21 UTC
Answers
There is no single, correct answer to this question.
But in my experience, most people measure the offset to determine the pose of the IMU within some other known frame (doesn't have to be base_link.) If you can be accurate to within 1 millimeter, that is good enough for many use cases.
Asked by Mike Scheutzow on 2022-11-18 15:55:37 UTC
Comments
@huchaohong Did you find any answer for your question and don't mind to share? I am currently facing similar issue. Will do the literature review and share my finding afterwards.
Asked by BCJ on 2022-11-17 00:44:40 UTC