ground_truth

[JDYS12138]

Does the dataset provided by the author contain real trajectories?

[srividyaprasad]

No messages in /vins_estimator/groundtruth topic. Requesting the author to provide a dataset with Lidar ground truth.

[TouchDeeper]

@JDYS12138 @srividyaprasad This dataset does not have ground truth. You can use the distance between the start and end points as the ground truth, or use the trajectory after loop closure as the ground truth. Alternatively, you can use some datasets that include wheel speed and have ground truth, such as openloris-scene.

[srividyaprasad]

Great, thanks a lot. Will try these routes.

How have you achieved your error results and how can I recreate your results? To benchmark this against VINS-Fusion and other VIO repos.

On Sun, Aug 4, 2024, 7:40 PM 庄庭达 @.***> wrote:

@JDYS12138 https://github.com/JDYS12138 @srividyaprasad https://github.com/srividyaprasad This dataset does not have ground truth. You can use the distance between the start and end points as the ground truth, or use the trajectory after loop closure as the ground truth. Alternatively, you can use some datasets that include wheel speed and have ground truth, such as openloris-scene.

— Reply to this email directly, view it on GitHub https://github.com/TouchDeeper/VIW-Fusion/issues/28#issuecomment-2267557729, or unsubscribe https://github.com/notifications/unsubscribe-auth/AU6LWD4DMXUMVHKEQDPTXKTZPYY67AVCNFSM6AAAAABL2X4QEKVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGU2TONZSHE . You are receiving this because you were mentioned.Message ID: @.***>

[TouchDeeper]

@srividyaprasad there is start-end error result in my thesis paper, you can refer to the data in Table 5-1 and Table 5-2.

[srividyaprasad]

Thank you

[srividyaprasad]

https://github.com/TouchDeeper/VIW-Fusion/blob/master/config/OpenORIS/realsense_stereo_imu_config.yaml Are these OpenLORIS extrinsic and intrinsic parameters configured and run by you?