Article

A2I-Calib++: A Noise-Robust Active Calibration Framework for Whole-Body Multi-IMU Systems on Legged Robots

The paper proposes A2I-Calib++, a kinematics-driven, noise-robust active calibration framework for multi-IMU systems mounted on legged robot bodies. It can estimate temporal offsets, extrinsic rotations and translations, and inertial biases without requiring artificial calibration targets or complex parameter tuning.

Part of the event: Proposal of the multi-IMU noise-resistant active calibration framework A2I-Calib++

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