title: the difference between the definition of the back camera, and IMU coordinate system of IPhone 6
body: <p>I'm using some computer vision algorithm  to aid the motion sensor (inertial measurements unit [IMU]) that are built on iPhone 6.</p>
  
  <p>Its important to know the difference between the camera and IMU coordinate systems definition.
  I'm sure that apple defines the IMU coordinate system as follow:</p>
  
  <p><a href="https://i.stack.imgur.com/tdoE3.png" rel="nofollow noreferrer"><img src="https://i.stack.imgur.com/tdoE3.png" alt="enter image description here"></a></p>
  
  <p>But I do not know how they define the x,y,z axis of the camera.
  my ultimate goal is to transfer the IMU measurement to the camera coordinate system</p>