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Suppose you are implementing SLAM or VIO system, you have your camera C and IMU and a coordinate transformation between them (R, T).

How do convert IMU measurements to camera accelerations and rotations? Or vice versa? The papers I have read all assume the IMU is located at the focal point of the camera which is obviously not true.

FourierFlux
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  • See also: https://robotics.stackexchange.com/questions/12512/coordinate-transform-of-accelerometer-on-rigid-body – Ben Nov 04 '22 at 17:27
  • That link from what I understand only gives linear accelerations and not angular velocity. – FourierFlux Nov 04 '22 at 18:37

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