Imu bias and noise parameters

[JereK]

Hi,
Is there any way to get IMU noise and bias parameters without access to zed2. Additional thing is that in ros2 i have logged ~/imu/data: Accelerometer, gyroscope, and orientation data in Earth frame topic which in my understanding is bias corrected. So does that mean that bias should be zero?

I could maybe get them like explained here:

[Question] left/right/imu parameters available?

However as said I dont have zed2 now in my hand.

[Myzhar]

Hi @JereK

@JereK

Is there any way to get IMU noise and bias parameters without access to zed2.

No, it’s not possible.

@JereK

Additional thing is that in ros2 i have logged ~/imu/data: Accelerometer, gyroscope, and orientation data in Earth frame topic which in my understanding is bias corrected. So does that mean that bias should be zero?

What bias are you referring to? Accelerometer or Gyroscope?

[JereK]

Is there some default values that could be utilized as initial values since i am doing state estimation together with bias estimation?

I am refering to both gyro and accelometer biases.

[Myzhar]

@JereK

Is there some default values that could be utilized as initial values since i am doing state estimation together with bias estimation?

This is not possible. Each IMU sensor has unique bias values estimated in the factory while calibrating each camera.

[JereK]

Could you also offer some help in this matter: " Additional thing is that in ros2 i have logged ~/imu/data : Accelerometer, gyroscope, and orientation data in Earth frame topic which in my understanding is bias corrected" .

So does that mean that bias should be zero in the measurements? Or what is the purpose to have two imu topics : ~/imu/data and ~/imu/data_raw

[Myzhar]

~/imu/data_raw should contain the raw data not fixed by the calibration, but there is a bug in the wrapper. I’m fixing it just now

[DatPhamPhenikaa]

@JereK

Could you also offer some help in this matter: " Additional thing is that in ros2 i have logged ~/imu/data : Accelerometer, gyroscope, and orientation data in Earth frame topic which in my understanding is bias corrected"

Hi. Has this bug been fixed yet? I got a problem with imu from ros2 warper on Zedx. I just use opensource vins fusion for VIO. but imu make wrong output. "I have tested the stereo-only configuration, and the results were quite good. However, when I enabled stereo + IMU, the results went wrong. Are there any specific considerations or things to keep in mind regarding IMU data in ROS 2?