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

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/mfu8yrst1fssgfyf7dbacvj26
- Original: https://arxiv.org/abs/2610.29438

## Summary

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.