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MAPS-Lab / OdomBeyondVision

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Question about ground truth coordinate. #2

Closed LilyGinger closed 2 years ago

LilyGinger commented 2 years ago

Hi, thanks for your great works! We are wondering if the odometry ground truth in UGV sequence is relative to the beginning of the sequence or to a fixed point in the building so that all sequences have the same ground truth coordinate. Thanks for your time!

li-peize commented 2 years ago

Hi there, thanks for raising the issue. The UGV sequences do not have a fixed origin for ground truth. They use the beginning of each sequence as origin. Same goes for handheld sequences. The ground truth for UAV sequences does share a fixed origin in the Vicon system.

LilyGinger commented 2 years ago

Thanks a lot!