Re: Proprioception vs exteroception - which gets underfunded in most designs?
Posted: Sun Jun 15, 2025 8:17 am
+1 to this. Worth adding:
IMU drift over time (bias instability) is usually the real culprit behind slowly diverging state estimates, not noise - it's typically handled with sensor fusion against other references (visual odometry, joint kinematics) rather than trying to eliminate drift at the source. Multi-camera calibration drifts over time from thermal expansion, vibration, and mechanical wear, which is why production systems typically run periodic recalibration routines rather than assuming a one-time factory calibration holds forever.
Anyway, good thread - following for more.