I am using the can bus imu data (i.e linear accel and rotation rate) to train a model for pose estimation and want to use the ego pose data (i.e. pos and quaternion) to train it.
But I am quite confused about the reference frames.
I read in a forum article that IMU and ego vehicle are in the same frame but the ego pose translation is in the global frame. I am not sure how to convert one into another.
Any help would be appreciated!
