navrobot / IMU-Calibration

Using Ceres and G2O solver for IMU Calibration

IMU Calibration for Accelerometer and Gyroscope

Depenency

1. ceres solver
2. g2o
3. Python3

Test Environment

Ubuntu 20.04

How to Use

1. Run ceres_imu.cpp for IMU Calibration using ceres solver
2. Run g2o_imu.cpp for IMU Calibration using ceres solver

Aritificial IMU data Generation

Execute imu_data_gen.py to genterate artificial IMU dat

Example Aritificial IMU Data

In this example, add some outliers(polluted points) to test the robustness of the calibration program