issues on IMU-camera calibration

[ladevan]

Hi,

First I would like to thank you all for providing this open source framework which helps me a lot on my project.

I extracted the EKF algorithm part out of the framework since my application is not ROS related. I came across the issue on IMU-camera calibration. In my configuration, the camera and IMU coordinate don't match, there is a 90 degree rotation around X axis. I set up the initial q_ci to (x,y,z,w)(sqrt(2)/2, 0,0,sqrt(2)/2). But after EKF ran, I checked the state of q_ci. It actually changed back to (0,0,0,1), and the EKF filtered output seems not right.

So my questions are how to initialize q_ci? Are there any other parameters need to pay attention in order to make the self-calibration work? I tried to set the noise of q_ci very low, so as to increase the confidence about the setting, but it seems doesn't work.

Thanks,

Daniel

[zanazakaryaie]

Hi Ladevan

I can't help you but it's great to hear from you that you have extracted the EKF algorithm out of the framework. I really need such a thing because I can't use ROS. I would be so much If you let me access to your codes.

Best regards

Zana