https://github.com/Kyle-ak/imu_tk

https://github.com/Kyle-ak/imu_tk

Last synced: 27 days ago
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• Host: GitHub
• URL: https://github.com/Kyle-ak/imu_tk
• Owner: Kyle-ak
• Created: 2016-12-22T01:49:16.000Z (over 7 years ago)
• Default Branch: master
• Last Pushed: 2023-06-22T00:14:53.000Z (12 months ago)
• Last Synced: 2024-02-10T05:43:14.761Z (4 months ago)
• Language: C++
• Size: 1.01 MB
• Stars: 446
• Watchers: 15
• Forks: 152
• Open Issues: 10
• Metadata Files:
  • Readme: README.md

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• Awesome-SLAM - IMU-TK
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README

        
# IMU-TK: Inertial Measurement Unit ToolKit #

The C++ IMU-TK Library (Inertial Measurement Unit ToolKit) provides simple functions and data structures to calibrate MEMS-based inertial navigation units, and to process and display IMU data. 

IMU-TK implements a multi-position calibration method that does not require any parameter tuning and simply requires the sensor to be moved by hand and placed in a set of different, automatically detected, static positions. IMU-TK also provides a collection of functions for data integration.

## References ##

Papers Describing the Approach:

D. Tedaldi, A. Pretto and E. Menegatti, "A Robust and Easy to Implement Method for IMU Calibration without External Equipments". In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014), May 31 - June 7, 2014 Hong Kong, China, Page(s): 3042 - 3049 ([PDF](http://www.dis.uniroma1.it/~pretto/papers/tpm_icra2014.pdf))

```

#!bibtex

@inproceedings{tpm_icra2014,

  title={A Robust and Easy to Implement Method for IMU Calibration 

            without External Equipments},

  author={Tedaldi, A. and Pretto, A. and Menegatti, E.},

  booktitle={Proc. of: IEEE International Conference on Robotics and

                   Automation (ICRA)},

  year={2014},

  pages={3042--3049}

}

```

A. Pretto and G. Grisetti, "Calibration and performance evaluation of low-cost IMUs". In Proceedings of the 20th IMEKO TC4 International Symposium, Sep. 15 - 17, 2014 Benevento, Italy, pages: 429 - 434 ([PDF](http://www.dis.uniroma1.it/~pretto/papers/pg_imeko2014.pdf))

```

#!bibtex

@inproceedings{pg_imeko2014,

  title={Calibration and performance evaluation of low-cost IMUs},

  author={Pretto, A. and Grisetti, G.},

  booktitle={Proc. of: 20th IMEKO TC4 International Symposium},

  year={2014},

  pages={429--434}

}

```

## License ##

IMU-TK is licensed under the BSD License.

IMU-TK is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the licenses for more details.

## Requirements ##

The code is tested on Ubuntu 14.04. IMU-TK requires the following tools and libraries: CMake, Eigen3, Ceres Solver, OpenGL, QT and Gnuplot. To install these required packages on Ubuntu, use the terminal command:

```

#!bash

sudo apt-get install build-essential cmake libeigen3-dev libqt4-dev libqt4-opengl-dev freeglut3-dev gnuplot

```

and follow this [guide](http://ceres-solver.org/building.html) to install Ceres Solver.

## Building ##

To build IMU-TK on Ubuntu, type in a terminal the following command sequence.

```

#!bash

cd imu_tk

mkdir build

cd build

cmake  ..

make

```

Test the library with the **test_imu_calib** app (binary in /bin, source code in src/test_imu_calib.cpp): **test_imu_calib** performs an IMU calibration given the data included in bin/test_data/:

```

#!bash

./test_imu_calib test_data/xsens_acc.mat test_data/xsens_gyro.mat

```

## Contact information ##

Alberto Pretto [[email protected]](mailto:[email protected])