@techreport{oai:ipsj.ixsq.nii.ac.jp:00219893,
 author = {Huakun, Liu and Monica, Perusquía-Hernández and Naoya, Isoyama and Hideaki, Uchiyama and Kiyoshi, Kiyokawa and Huakun, Liu and Monica, Perusquía-Hernández and Naoya, Isoyama and Hideaki, Uchiyama and Kiyoshi, Kiyokawa},
 issue = {8},
 month = {Aug},
 note = {For low-cost IMU, the uncalibrated bias and noise will quickly propagate 6DOF odometry errors over time. This paper proposes a data-driven accelerometer calibration method based on a dilated convolution network. Then, with a state-of-the-art gyroscope calibration method, we comprehensively analyze the impact of data-driven calibration on 6DOF inertial odometry. The experimental results show that our data-driven accelerometer calibration can reduce the bias by a factor of 5 to 10 and decreases the noise by a factor of 2 to 5. Through our exhaustive evaluations and analysis of data-driven calibration methods, the primary finding is that the data-driven calibration methods can slow down the error growth rate by 40-200 times. However, the effect of accelerometer calibration is only noticeable after calibrating the gyroscope. This fact would be experimental support for the design of future data-driven 6DOF inertial odometry., For low-cost IMU, the uncalibrated bias and noise will quickly propagate 6DOF odometry errors over time. This paper proposes a data-driven accelerometer calibration method based on a dilated convolution network. Then, with a state-of-the-art gyroscope calibration method, we comprehensively analyze the impact of data-driven calibration on 6DOF inertial odometry. The experimental results show that our data-driven accelerometer calibration can reduce the bias by a factor of 5 to 10 and decreases the noise by a factor of 2 to 5. Through our exhaustive evaluations and analysis of data-driven calibration methods, the primary finding is that the data-driven calibration methods can slow down the error growth rate by 40-200 times. However, the effect of accelerometer calibration is only noticeable after calibrating the gyroscope. This fact would be experimental support for the design of future data-driven 6DOF inertial odometry.},
 title = {What Can Data-driven Calibration Do for 6DOF Inertial Odometry?},
 year = {2022}
}