L515 extrinsic parameters IMU - depth

January 27, 2021 12:08

Hi,

I am using a L515 but I am not sure the IMU data I gather are already multiplied by the extrinsic matrix that allows for the alignment between depth sensor reference system and IMU reference system.

Does anyone know it?

I have found some info about that but for other devices (D435i, T265) here:

https://www.intelrealsense.com/how-to-getting-imu-data-from-d435i-and-t265/

"The IMU sensor location and orientation relative to the depth sensors are conveniently embedded into the sensor’s extrinsic data. In order to use the depth sensor as CS origin, each IMU sample is multiplied internally by the extrinsic matrix. The resulted orientation angles and acceleration vectors share the coordinate system with the depth sensor."

Thanks a lot.

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1 comment

Official comment
Jesus Garcia

January 27, 2021 13:54
Hello Ambra Va,

The L515 IMU works the same way as the IMU on the D435i. For more information, read the section 2.2 IMU Calibration Parameters in the IMU Calibration white paper.

Sincerely,
Jesus G.
Intel Customer Support
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