Long term in-field imu temperature calibration

A computing apparatus comprising:

• a processor;
• and
• a memory storing instructions that, when executed by the processor, configure the apparatus to:
• measure a temperature of an inertial measurement unit (IMU) of a visual-inertial tracking system;
• identify, from an IMU parametric model of an IMU calibration module, an IMU intrinsic parameter estimate corresponding to the temperature;
• determine an online IMU intrinsic parameter estimate by operating the visual-inertial tracking system with the IMU intrinsic parameter estimate;
• provide the online IMU intrinsic parameter estimate to the IMU calibration module;
• and
• update and incorporate the IMU parametric model with the online IMU intrinsic parameter estimate.

A non-transitory computer-readable storage medium, the computer-readable storage medium including instructions that when executed by a computer, cause the computer to:

• measure a temperature of an inertial measurement unit (IMU) of a visual-inertial tracking system;
• identify, from an IMU parametric model of an IMU calibration module, an IMU intrinsic parameter estimate corresponding to the temperature;
• determine an online IMU intrinsic parameter estimate by operating the visual-inertial tracking system with the IMU intrinsic parameter estimate;
• provide the online IMU intrinsic parameter estimate to the IMU calibration module;
• and
• update and incorporate the IMU parametric model with the online IMU intrinsic parameter estimate.