https://medium.com/@tomas789/iphone-calibration-camera-imu-and-kalibr-33b8645fb0aa how kalibr model the imu noise model? https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model 如何获得IMU的参数 下面描述如何获得针对你的imu的kalibr IMU噪声模型参数. https://bitbucket.org/albert
1. 第一步初始化imu外参(可以从参数文档中读取,也可以计算出),VINS中处理如下: # Extrinsic parameter between IMU and Camera. estimate_extrinsic: # Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. # Have an initial guess about e