ZED Sensor Calibration

My camera currently stationary, but the accelerometer is giving me non-zero values in the x and y and -6.9 m/s2 in the Z. Isn’t that too much of a bias? Also, the orientation of the camera is completely off. How can I recalibrate the IMU?

Hi @sesem738
they are not biased values, they are the components of the gravity acceleration along the three axes.
If you place the camera perfectly horizontally, you will ready ~9.81 m/s² along the vertical component and zero along the others.

When an accelerometer sensors is steady, it’s subject to the gravity acceleration, hence he measures it.