  Gravitational waves from coalescences of neutron stars or stellar-mass black
holes into intermediate-mass black holes (IMBHs) of $\gtrsim 100$ solar masses
represent one of the exciting possible sources for advanced gravitational-wave
detectors. These sources can provide definitive evidence for the existence of
IMBHs, probe globular-cluster dynamics, and potentially serve as tests of
general relativity. We analyse the accuracy with which we can measure the
masses and spins of the IMBH and its companion in intermediate-mass ratio
coalescences. We find that we can identify an IMBH with a mass above $100 ~
M_\odot$ with $95\%$ confidence provided the massive body exceeds $130 ~
M_\odot$. For source masses above $\sim200 ~ M_\odot$, the best measured
parameter is the frequency of the quasi-normal ringdown. Consequently, the
total mass is measured better than the chirp mass for massive binaries, but the
total mass is still partly degenerate with spin, which cannot be accurately
measured. Low-frequency detector sensitivity is particularly important for
massive sources, since sensitivity to the inspiral phase is critical for
measuring the mass of the stellar-mass companion. We show that we can
accurately infer source parameters for cosmologically redshifted signals by
applying appropriate corrections. We investigate the impact of uncertainty in
the model gravitational waveforms and conclude that our main results are likely
robust to systematics.
