Re: IMU coordinate system question
by OmariSammy » Tue 7. Oct 2014, 16:47
Hi,
The technical annex might be a bit misleading in this regard. With X-front, Y-left, Z-up, we simply mean the right-hand chirality of the coordinate frame. The initial orientation of the IMU in a world frame is to be estimated by you. As well known from visual-inertial state estimation literature, roll and pitch angle of the IMU is observable. You can set the yaw, which is unobservable, to an arbitrary value. As discussed in the link that Markus provided, we only evaluate the relative position and orientation. Therefore, you can set the initial pose to an arbitrary value - it does not even have to be gravity aligned, as long as your estimated trajectory is consistent with respect to your initial pose.