Intel® RealSense™ Depth Camera D435i IMU Calibration White Paper
Intel® RealSense™ Depth Camera D435i IMU Calibration (PDF) 
An IMU calibration is recommended in order to use the inertial measurement unit (IMU) within the Intel® RealSense™ Depth Camera D435i device with the best level of efficiency and accuracy. This document serves as a guide for using a provided Python* script to compute the calibration.
Details of the calibration algorithm or accuracy aren't in the scope of this document.
Size: 575 KB
Date: January 2019
Note: PDF files require Adobe Acrobat Reader*