I’m currently working with the OAK-D.
I am using data captured as input into Kimera-VIO (MIT-SPARK/Kimera-VIO) and I need some direction regarding the IMU noise parameters.
Specifically, I’m looking for the following values (they are required by Kimera-VIO):
- imu_bias_init_sigma
- gyroscope_noise_density
- gyroscope_random_walk
- accelerometer_noise_density
- accelerometer_random_walk
I’ve already taken a look at the datasheet(https://docs.sparkfun.com/SparkFun_VR_IMU_Breakout_BNO086_QWIIC/assets/component_documentation/BNO080_085-Datasheet_v1.16.pdf) but was unable to locate this information. Could someone point me to where I might find these values, or provide guidance on how to derive or estimate them?
Any assistance would be greatly appreciated.
Thank you in advance.