BNO086 IMU noise model for Kalibr Camera-IMU calibration

HiepNguyen

Hi Luxonis experts,

I'm using the OAK-FFC-4P with the BN0086 IMU inside. I'm finding the IMU document about BN0086 noises, as they are necessary for inputs for Kalibr Camera-IMU calibration. I found BN0086 specifications but none of them reveal anything about the IMU noises.

Noise parameters needed for Kalibr Camera-IMU calibration are :

#Accelerometers
accelerometer_noise_density:   #Noise density (continuous-time)
accelerometer_random_walk:     #Bias random walk
#Gyroscopes
gyroscope_noise_density:       #Noise density (continuous-time)
gyroscope_random_walk:         #Bias random walk

I'm integrating the OAK-FFC-4P with 3 AR0234 to Nvidia Isaac ROS Visual SLAM, it also needs above parameters to launch the Visual SLAM application.

I'm looking forward to seeing your response. Many thanks in advance !

Best regards,
Hiep Nguyen

jakaskerl

Hi HiepNguyen
No tests/measurements regarding the IMU noise were done on our side. But I'm almost certain if you contact the manufacturer, you will get the information you need.
You can also do the tests yourself if you wish.

Thanks,
Jaka

CharlesHamesse

Hi @HiepNguyen,
By any chance, have you eventually calibrated the IMU? If so, would you mind sharing the noise parameters? I'm facing the same situation.
Thanks,
Charles

hjgrant

Hi I have the same issue, I need the aforementioned parameters to run Isaac ROS cuVSLAM. Could Luxnois please provide these on their website? The IMU manufacturer doesn't provide them in the datasheet. Thanks!

erik

Hi @hjgrant , I don't think it's that straightforward, one would need to calibrate each IMU separately, as each sensor is unique. We have this on the roadmap, so we'd do imu calibration during our factory calibration (of the camera).