visual-inertial odometry

Considering the sythetic data example https://de.mathworks.com/help/fusion/ug/visual-inertial-odometry-using-synthetic-data.html

Is the vehicle frame and IMU frame are aligned?

did I gussed correctly that x-axis points in forward direction, y-axis points left and z-axis in the up direction.

Thank you very much

Answer 1

[Ryan Salvo]

Hi Ravindra,

Yes, that is correct. The IMU and vehicle frame are aligned with the x-axis pointing forward, the y-axis pointing left, and the z-axis pointing up.

Thanks,

Ryan