How to align the trajectory with google map?

HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator

GNU General Public License v3.0

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How to align the trajectory with google map? #452

Closed Echo-gh closed 6 months ago

Echo-gh commented 6 months ago

I need to align camera trajectory from ORB-SLAM2 with google map. I've found that there are similar results in the Vins-mono paper. However, the authors didn't mention about how to make it. Anyone can help me? What I've got:

ORB-SLAM2 camera trajectory file (transformation matrix)
The original position in ECEF obtained from GPS.
The original attitude (Euler angles)

SerpentWindy commented 6 months ago

May I ask if you have tried taking screenshots of Google Maps and camera trajectories separately, and then overlaying the two images together?

Echo-gh commented 6 months ago

May I ask if you have tried taking screenshots of Google Maps and camera trajectories separately, and then overlaying the two images together?

No, I don't think this method can work well. What I want is to get an accurate result.

SerpentWindy commented 6 months ago

May I ask if you have tried taking screenshots of Google Maps and camera trajectories separately, and then overlaying the two images together?

No, I don't think this method can work well. What I want is to get an accurate result.

I'm really sorry, but I don't know what to do.

Echo-gh commented 6 months ago

May I ask if you have tried taking screenshots of Google Maps and camera trajectories separately, and then overlaying the two images together?

No, I don't think this method can work well. What I want is to get an accurate result.

I'm really sorry, but I don't know what to do.

Never mind. Thanks for replying!