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MIT-SPARK / Kimera-Multi-Data

A large-scale multi-robot dataset for multi-robot SLAM
MIT License
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Questions about extrinsic parameter #2

Closed zzwu29 closed 1 year ago

zzwu29 commented 1 year ago

Thanks for your brilliant work! I have two questions to ask. Could you help me?

First, I cannot find the extrinsic between LiDAR and IMU. Also, I don't understand the extrinsic between IMU and RGB camera, IMU from D455 was used in the dataset, does that mean the extrinsic between IMU and RGB camera can be considered as eye(4)?

Thank you very much!

yunzc commented 1 year ago

Regarding the first question: we never directly used the extrinsic between the LiDAR and the IMU (which is on the realsense camera), so let me get back to you on this. (Kimera-Multi itself doesn't use the LiDAR)

Regarding the second question: For Kimera in general, we assumed the body frame to be the IMU frame. Hence the body-to-IMU extrinsic is identity: (T_BS in this file) As for the extrinsic between IMU and RGB Camera, it depends on how you define the RGB camera frame. For example, if it is defined as the IMU frame, then it is the identity; otherwise, if you choose the RGB camera frame as the frame of the left camera, the extrinsic is here).

Hope that clarifies things.

zzwu29 commented 1 year ago

Thank you!

plusk01 commented 9 months ago

extrinsics available here https://github.com/MIT-SPARK/Kimera-Multi-Data/pull/9