How can I remove the IMU drift of my camera?

The ZED SDK continuously monitors the biases of the onboard IMU in ZED cameras and updates them as needed. However, external factors, such as nearby cooling fans from a PC or laptop, can interfere with these bias values, leading to drift issues when the fan effect is no longer present.

Static Calibration

The ZED Calibration tool allows you to reset the gyroscope biases to their default values, eliminating drift issues.

Steps to Reset Gyroscope Biases

  1. Place the camera on a stable, vibration-free surface (e.g., the floor).
  2. Open a console terminal.
  3. Run the calibration tool with the --calib_gyro option:
    • On Windows (PowerShell):
      & 'C:\Program Files (x86)\ZED SDK\tools\ZED Calibration.exe' --calib_gyro
    • On Linux (Ctrl+Alt+t):
      ZED_Calibration --calib_gyro
  4. Launch the ZED Depth Viewer tool and let it run for 60 seconds without touching the camera to allow the ZED SDK to perform an automatic self-tuning.
  5. Launch the ZED Sensor Viewer tool to validate the procedure and confirm the absence of drift in the 3D view.

If the problem persists, proceed with a full dynamic IMU re-calibration.

Dynamic Calibration

If resetting the biases does not fully resolve the issue, a 6-point dynamic calibration may be necessary.

Steps for IMU Calibration

  1. Place the camera on a stable, vibration-free surface (e.g., the floor).
  2. Open a console terminal.
  3. Run the calibration tool with the --calib_dynamic option:
    • On Windows (PowerShell):
      & 'C:\Program Files (x86)\ZED SDK\tools\ZED Calibration.exe' --calib_dynamic
    • On Linux (Ctrl+Alt+t):
      ZED_Calibration --calib_dynamic
  4. Follow the on-screen instructions to move the camera into the required positions.
  5. Launch the ZED Depth Viewer tool and let it run for 60 seconds without touching the camera to allow the ZED SDK to perform an automatic self-tuning.
  6. Launch the ZED Sensor Viewer tool to validate the procedure and confirm the absence of drift in the 3D view.

Further Assistance

If the issue persists after performing both calibration steps, please contact Stereolabs Support at stereolabs@stereolabs.com.