# IMU and Wheel Encoder Calibration

Hi, I am trying to do localization based on Wheel Odometry, IMU, GNSS and LiDAR. I figured that i first need to do calibration for all the sensors, i.e all of them to be reference from the same frame base_link. I am stuck at trying to do calibration for IMU and Wheel Odometry. From what i found on a couple of papers, what people normally do is to perform IMU Odometry and Wheel Odometry, gets the trajectories and solve the hand-eye calibration problem (AX =XB).

I am afraid that the solution from the IMU Odometry and Wheel Odometry will not be closely related, as in there will not be a matrix X that satisfy AX = XB, due to the difference in the trajectories computed. What can i do should this problem occurs? I am thinking of performing odometry in a shorter distance to avoid odometry.

Is there a different way to do the calibration? So far I have only found the hand-eye calibration as the only mean to calibration these sensors.

If you have any information with me that you would like to share, all are welcome. Thank you very much.