Extrinsic Calibration of Multiple Inertial Sensors From Arbitrary Trajectories

Jongwon Lee, David Hanley, Timothy Bretl

Research output: Contribution to journalArticlepeer-review


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.

Original languageEnglish (US)
Pages (from-to)2055-2062
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number2
StatePublished - Apr 1 2022


  • Accelerometers
  • Calibration
  • Cameras
  • Gyroscopes
  • Q measurement
  • Quaternions
  • Trajectory

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


Dive into the research topics of 'Extrinsic Calibration of Multiple Inertial Sensors From Arbitrary Trajectories'. Together they form a unique fingerprint.

Cite this