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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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About the conversion of noise parameters in TUM_512.yaml #126

Open lishanggui opened 4 years ago

lishanggui commented 4 years ago

According to the TUM_512.yaml you provided, the noise parameters are converted from vins-mono: IMU.NoiseGyro: 0.00016 # 0.004 (VINS) # 0.00016 (TUM) # 0.00016 # rad/s^0.5 IMU.NoiseAcc: 0.0028 # 0.04 (VINS) # 0.0028 (TUM) # 0.0028 # m/s^1.5 IMU.GyroWalk: 0.000022 # 0.000022 (VINS and TUM) rad/s^1.5 IMU.AccWalk: 0.00086 # 0.0004 (VINS) # 0.00086 # 0.00086 # m/s^2.5

According to my understanding, what is needed in orb-slam3 is a continuous value, and vins needs to be converted to a discrete value. Convert the value in orb-slam3 into discrete values, and calculate as follows: acc_n: 0.00016x200^0.5 = 0.002262742 （200 means imu frequency） gyr_n: 0.0028x200^0.5 = 0.03959798 acc_w: 0.000022/(200^0.5)=0.000001556 gyr_w: 0.00086/(200^0.5)=0.000060811

The converted values of these numbers are not the same as the values in the vins parameter.

What kind of conversion relationship exists between them? Is there a problem with my calculation process? Thank you very much！

ns15417 commented 4 years ago

i am also wondering what this parameters mean? should i divide them by the frequency or just use the data the same as VINS?

wwendy233 commented 2 years ago

i am also wondering what this parameters mean