Extrinsic Calibration of Multiple Inertial Sensors from Arbitrary Trajectories

Jongwon Lee, David Hanley, Timothy Bretl
2022 IEEE Robotics and Automation Letters  
We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to prescribe the trajectory. Our method is based on solving a nonlinear least-squares problem that penalizes inconsistency between measurements from pairs of IMUs. We validate our method with experiments both in simulation and in hardware. In particular, we show that
more » ... it meets or exceeds the performance -- in terms of error, success rate, and computation time -- of an existing, state-of-the-art method that does not rely only on IMU measurements and instead requires the use of a camera and a fiducial marker. We also show that the performance of our method is largely insensitive to the choice of trajectory along which IMU measurements are collected.
doi:10.1109/lra.2022.3143290 fatcat:vjuybso3x5hcrbex4um7ccayxu