Please make sure that the following dependencies are installed.
- ceres solver
- g2o
- Python3
Ubuntu 20.04
- Run ceres_imu.cpp for IMU Calibration using ceres solver
- Run g2o_imu.cpp for IMU Calibration using g2o solver
Execute imu_data_gen.py to genterate artificial IMU dat
In this example, add some outliers(polluted points) to test the robustness of the calibration program