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Should i calibrate imu offset to base_link?

asked 2019-06-10 21:19:21 -0500

huchaohong gravatar image

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?

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@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.

BCJ gravatar image BCJ  ( 2022-11-16 23:44:40 -0500 )edit

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answered 2022-11-18 14:55:37 -0500

Mike Scheutzow gravatar image

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.

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Asked: 2019-06-10 21:19:21 -0500

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Last updated: Nov 18 '22