 fusion application.</p></li>
</ul>
<p><strong>Note: <code class="docutils literal notranslate"><span class="pre">core_graph_params.yaml</span></code> only contains the noise parameters of the central IMU, as these are always needed for any holistic fusion application. The noise parameters of the other sensors are provided in the sensor-specific parameter files.</strong></p>
<section id="core-extrinsic-parameters">
<h3>Core Extrinsic Parameters<a class="headerlink" href="#core-extrinsic-parameters" title="P