Papers › Extrinsic Calibration of Multiple Inertial Sensors from Arbitrary Trajectories
Extrinsic Calibration of Multiple Inertial Sensors from Arbitrary Trajectories
Jongwon Lee, David Hanley, Timothy Bretl
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
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 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.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections