iPhone 12 pro ARKit raw data for VIO

Spatial Computing ARKit
MPIL OP
Created Sep ’23
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I would like to perform visual-inertial odometry using ARKit raw data on an iPhone 12 Pro. I have two main questions regarding the data.

  1. Extrinsic parameters of IMU and camera

I am unsure which class or function in Swift contains the extrinsic matrix information. I am curious if any documentation provides the extrinsic matrix, or if using Kalibr is the only way to obtain it.

  1. Noise in gyro and accel data

I would like to know if the accelerometer and gyroscope data from ARKit are filtered values or if they include bias and noise.

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deeje OP
Sep ’23

curious why you want to roll your own, rather than use Apple's implementation?

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iPhone 12 pro ARKit raw data for VIO
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