INERTIAL MEASUREMENT UNIT (IMU) SENSOR DATA OUTPUT AGGREGATION

Systems and techniques are provided for aggregating data output from multiple Inertial Measurement Units (IMUs) for a localization of an autonomous vehicle (AV). An example method includes receiving a first measurement output from a first IMU associated with a first sensor of an AV and a second measurement output from a second IMU associated with a second sensor of the AV; adjusting the first measurement output based on a first offset vector corresponding to the first IMU to obtain a first adjusted measurement output; adjusting the second measurement output based on a second offset vector corresponding to the second IMU to obtain a second adjusted measurement output; and determining a pose of the AV based on the first adjusted measurement output and the second adjusted measurement output.