Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation for Inertially Aligned Mapping
Ryan Nemiroff,Kenny Chen,Brett T. Lopez,Ryan Nemiroff,Kenny Chen,Brett T. Lopez
Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity. Accelerometer biases and scale factor errors from the IMU's initial calibration are often the major source of inaccuracies when aligning the robot's odometry frame with...