Estimating IMU Noise Parameters

April 14, 2022 ยท View on GitHub

  1. Record a > 2h video keeping your camera completely still. Use the lowest resolution and FPS setting, as we do not need the video feed for this. In addition, you can cover the lens. A video of a black screen will remain quite small.
  2. Still this will create multiple video files, so we need to extract the telemetry from each and merge it to a large one.
  3. Put all video files in a single folder
  4. Use merge_gopro_telemetry_from_folder.py to concatenate all telemetry files into a single on
  5. Finally run fit_allan_variance binary on the concatenated telemetry file
  6. This will give you noise density and random walk values for each axis x-y-z of gyroscope and accelerometer
  7. Average these values and use them in your favorite VIO or SLAM, e.g. ORB-SLAM3